Study the effect of changing Cables’ pattern on the workspace of a six DOF floating parallel marine robot (FPMR)

Mamon M. Horoub*, Ayman M.A. Horoub, Sikandar Khan, Ahmad Albalasie, Sajid Ali, Ihab Abu Ajamieh, Ammar Alzaydi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

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 languageEnglish
Pages (from-to)847-858
Number of pages12
JournalAlexandria Engineering Journal
Volume64
DOIs
StatePublished - 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

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