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Mathematical Modeling of Cable Sag, Kinematics, Statics, and Optimization of a Cable Robot

Sridhar, Dheerendra M.
http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1439416734

Abstract Details

2015, Master of Science (MS), Ohio University, Mechanical Engineering (Engineering and Technology).
Cable sag can have significant effects on the cable length computation in a cable robot and this is more pronounced in large scale cable robots, such as the Algae Harvesting Cable Robot System. This requires modeling the cable as a catenary instead of an approximated straight line model. Furthermore, when there is actuation redundancy involved, the modeling and simulation of the system becomes much more complex, requiring optimizing routines to solve the problem. The cable sag compensated or the catenary model was used for the Algae Harvesting Cable Robot System and simulated to solve the Kinematics and Statics problems. This involved optimization of cable tensions and finding the errors involved in the cable length. A relative comparative analysis between the straight line and cable sag model is presented. Finally based on the qualitative and quantitative results obtained, recommendations were made on the choice of model and solution methodologies.
Robert Williams, II (Advisor)
Hajrudin Pasic (Committee Member)
Greg Kremer (Committee Member)
Vardges Melkonian (Committee Member)
81 p.
Applied Mathematics; Engineering; Mechanical Engineering; Robotics
Mechanical Engineering; Robotics; Cable Robot; Cable Sag; Tension; Mathematical Modeling; Optimization; Kinematics; Statics

Recommended Citations

Citations

  • Sridhar, D. M. (2015). Mathematical Modeling of Cable Sag, Kinematics, Statics, and Optimization of a Cable Robot [Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1439416734

    APA Style (7th edition)

  • Sridhar, Dheerendra. Mathematical Modeling of Cable Sag, Kinematics, Statics, and Optimization of a Cable Robot. 2015. Ohio University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1439416734.

    MLA Style (8th edition)

  • Sridhar, Dheerendra. "Mathematical Modeling of Cable Sag, Kinematics, Statics, and Optimization of a Cable Robot." Master's thesis, Ohio University, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1439416734

    Chicago Manual of Style (17th edition)

ohiou1439416734
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This open access ETD is published by Ohio University and OhioLINK.