Abstract
In this study, a Floating Parallel Marine Robot (FPMR) is studied while it is subjected to external forces generated by the sea waves. Two FPMR cable-bundles’ configurations are used. The 6–6 Stewart-Gough parallel manipulator configuration is compared with a new cable-bundles’ configuration called 6–3-3 FPMR. The effect of changing cable-bundles’ configuration is explored to enhance the workspace and the dynamic behavior of the FPMR. This study is performed using six DOFs FPMR having twelve cables i.e. 6 bundles. Over the FPMR workspace, the dynamic response and platform stiffness are investigated. The workspace and the dynamic analysis of FPMR are enhanced using the new 6–3-3 cable-bundles’ configuration.
Original language | English |
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Pages (from-to) | 847-858 |
Number of pages | 12 |
Journal | Alexandria Engineering Journal |
Volume | 64 |
DOIs | |
State | Published - 1 Feb 2023 |
Bibliographical note
Publisher Copyright:© 2022 THE AUTHORS
Keywords
- 6–6 and 6–3-3 FPMR
- Dynamic response
- Floating Parallel Marine Robot
- Stewart-Gough parallel manipulator
- Workspace
ASJC Scopus subject areas
- General Engineering