Failure Analysis of Cable Based Parallel Manipulators

Asim Ghaffar; Mahir Hassan

doi:10.4028/www.scientific.net/AMM.736.203

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 736Failure Analysis of Cable Based Parallel...

Failure Analysis of Cable Based Parallel Manipulators

Abstract:

In this study, the effect of a cable failure on the performance of the manipulator is investigated. The post failure trajectory and cable tensions after failure are analysed and ship position optimization is conducted in order to minimize the cable tensions after failure. The optimization is demonstrated with six, eight and ten ships in a cable based parallel manipulator (CPM). The performance of the system after failure is improved with higher number of cables in a CPM.

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Periodical:

Applied Mechanics and Materials (Volume 736)

Pages:

203-210

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.736.203

Citation:

Cite this paper

Online since:

March 2015

Authors:

Asim Ghaffar*, Mahir Hassan

Keywords:

Cable-Driven Manipulator, Failure Analysis, Marine Platform, Wire-Driven Manipulator

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* - Corresponding Author

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