Abstract
Construction 3D printing technology has recently received significant attention for creating construction components or printing entire buildings. The deployment of Cable Driven Parallel Robots (CDPRs) in large-scale 3D printing is being explored as a potential candidate due to their low cost, high speed, large workspace, and design modularity. The proposed CDPR offers better performances in stiffness, workspace, flexibility, vibration, control, and power consumption. A systematic model is proposed for solving a multi-optimization problem to find the robot's optimal reconfiguration from different points of view, such as architecture, number of cables, and workspace parameters.However, the cable’s inertial and elastic properties may lead to sagging and vibration, making the system difficult to model. Some existing cable models address this issue using basic elastic models of springs with positive stresses, lumped spring-mass models, and continuous finite element models. In this Research, we use the Geometric Variable Strain (GVS) model, exact geometrical approach according to the Cosserat rod theory, to model the dynamics of a CDPR. The Cosserat rod theory accounts for deformation modes not considered in other models, while the geometric formulation ensures accurate and fast computation. We show that analyses of CDPR systems using the GVS approach can reveal new perspectives on their control, design, and development. There are several restrictions and success criteria presented, and critical issues on dealing with large workspace and active and passive vibration suppression model are investigated.
| Date of Award | Apr 2023 |
|---|---|
| Original language | American English |
| Supervisor | Bashar El Khasawneh (Supervisor) |
Keywords
- CDPR
- GVS
- Cable Model
- Vibration