Influence of cables layout on the dynamic workspace of a six-DOF parallel marine manipulator

Mamon Horoub; Muhammad Hawwa

doi:10.1016/j.mechmachtheory.2018.07.022

Influence of cables layout on the dynamic workspace of a six-DOF parallel marine manipulator

Mamon Horoub^*
, Muhammad Hawwa

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

18 Scopus citations

Abstract

In this paper, dynamic performance and workspace of four cable layouts of a parallel robotic marine platform (PRMP) are analyzed. The four cable layouts are called 3-3, 6-6, 6-3, and 3-6 PRMPs. There are six-degrees-of-freedom (DOF) cylindrical floating structures and twelve cables anchored to the seabed. Their workspaces are identified with/without the effects of the environmental loads. In order to provide necessary motion to compensate the environmental loads, cable tensions are applied to keep the floating platforms rigid while they move horizontally due to the environmental loads. The PRMPs are analyzed in the framework of rigid-body dynamics. This work aims to improve the performance of the PRMPs.

Original language	English
Pages (from-to)	191-201
Number of pages	11
Journal	Mechanism and Machine Theory
Volume	129
DOIs	https://doi.org/10.1016/j.mechmachtheory.2018.07.022
State	Published - Nov 2018

Bibliographical note

Publisher Copyright:
© 2018 Elsevier Ltd

Keywords

Cable stiffness
Dynamic analysis
Parallel robotic marine platforms
Water waves
Workspace

ASJC Scopus subject areas

Bioengineering
Mechanics of Materials
Mechanical Engineering
Computer Science Applications

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title = "Influence of cables layout on the dynamic workspace of a six-DOF parallel marine manipulator",

abstract = "In this paper, dynamic performance and workspace of four cable layouts of a parallel robotic marine platform (PRMP) are analyzed. The four cable layouts are called 3-3, 6-6, 6-3, and 3-6 PRMPs. There are six-degrees-of-freedom (DOF) cylindrical floating structures and twelve cables anchored to the seabed. Their workspaces are identified with/without the effects of the environmental loads. In order to provide necessary motion to compensate the environmental loads, cable tensions are applied to keep the floating platforms rigid while they move horizontally due to the environmental loads. The PRMPs are analyzed in the framework of rigid-body dynamics. This work aims to improve the performance of the PRMPs.",

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author = "Mamon Horoub and Muhammad Hawwa",

note = "Publisher Copyright: {\textcopyright} 2018 Elsevier Ltd",

year = "2018",

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doi = "10.1016/j.mechmachtheory.2018.07.022",

language = "English",

volume = "129",

pages = "191--201",

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T1 - Influence of cables layout on the dynamic workspace of a six-DOF parallel marine manipulator

AU - Horoub, Mamon

AU - Hawwa, Muhammad

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N2 - In this paper, dynamic performance and workspace of four cable layouts of a parallel robotic marine platform (PRMP) are analyzed. The four cable layouts are called 3-3, 6-6, 6-3, and 3-6 PRMPs. There are six-degrees-of-freedom (DOF) cylindrical floating structures and twelve cables anchored to the seabed. Their workspaces are identified with/without the effects of the environmental loads. In order to provide necessary motion to compensate the environmental loads, cable tensions are applied to keep the floating platforms rigid while they move horizontally due to the environmental loads. The PRMPs are analyzed in the framework of rigid-body dynamics. This work aims to improve the performance of the PRMPs.

AB - In this paper, dynamic performance and workspace of four cable layouts of a parallel robotic marine platform (PRMP) are analyzed. The four cable layouts are called 3-3, 6-6, 6-3, and 3-6 PRMPs. There are six-degrees-of-freedom (DOF) cylindrical floating structures and twelve cables anchored to the seabed. Their workspaces are identified with/without the effects of the environmental loads. In order to provide necessary motion to compensate the environmental loads, cable tensions are applied to keep the floating platforms rigid while they move horizontally due to the environmental loads. The PRMPs are analyzed in the framework of rigid-body dynamics. This work aims to improve the performance of the PRMPs.

KW - Cable stiffness

KW - Dynamic analysis

KW - Parallel robotic marine platforms

KW - Water waves

KW - Workspace

UR - https://www.scopus.com/pages/publications/85051121279

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DO - 10.1016/j.mechmachtheory.2018.07.022

M3 - Article

AN - SCOPUS:85051121279

SN - 0094-114X

VL - 129

SP - 191

EP - 201

JO - Mechanism and Machine Theory

JF - Mechanism and Machine Theory

ER -

Influence of cables layout on the dynamic workspace of a six-DOF parallel marine manipulator

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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