Design and Analysis of Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes-Reference-Cited by-同舟云学术

Design and Analysis of Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes

Published:2012-11-01 Issue:5 Volume:9 Page:207
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Zi Bin¹²³,Qian Sen¹,Ding Huafeng³⁴,Kecskeméthy Andrés³

Affiliation:

1. School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou, China

2. The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China

3. Chair of Mechanics and Robotics, University of Duisburg-Essen, Duisburg, Germany

4. Robotics Research Center, Yanshan University, Qinhuangdao, China

Abstract

The design, dynamic modelling, and workspace are presented in this paper concerning cooperative cable parallel manipulators for multiple mobile cranes (CPMMCs). The CPMMCs can handle complex tasks that are more difficult or even impossible for a single mobile crane. Kinematics and dynamics of the CPMMCs are studied on the basis of geometric methodology and d'Alembert's principle, and a mathematical model of the CPMMCs is developed and presented with dynamic simulation. The constant orientation workspace analysis of the CPMMCs is carried out additionally. As an example, a cooperative cable parallel manipulator for triple mobile cranes with 6 Degrees of Freedom is investigated on the basis of the above design objectives.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.5772/53670

Reference30 articles.

1. Swing-free stop control of the slewing motion of a mobile crane

2. A fast path planning method for single and dual crane erections

3. Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators

4. Task-oriented motion planning for multi-arm robotic systems

5. Hierarchical Fuzzy Cooperative Control and Path Following for a Team of Mobile Robots

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