Abstract
This study focuses on the optimization of the geometry configurations and mobile platform parameters of redundantly actuated cable-driven parallel robots (RA-CDPRs) for automated warehouse system (AWS). Owing to their potential structural advantages, RA-CDPRs are proposed to replace conventional stackers in AWS, to achieve a high payload mass and low cable tension in frequent automated retrieval/storage operations. To meet these operational requirements, the maximal payload criterion satisfying the wrench-feasible condition is used to determine the optimal geometry configuration. Based on the optimal geometry configuration, the minimal cable tension is designed as the other criterion for optimizing the mobile platform parameters of RA-CDPRs. The optimization method is validated on a 6-DOF RA-CDPR, and the optimal results are simulated and implemented under static equilibrium conditions. Both the simulation and experimental results verify the optimal results can significantly enhance the payload mass and decrease the cable tension of AWS.
Highlights
In the conventional automated warehouse system (AWS), the automated storage and retrieval system (AS/RS) has a significant effect on the performance of the overall intralogistics system, including the energy consumption, space utilisation, and operational efficiency
These geometry configurations are arranged according to the maximal payload criterion, and their optimal mobile platform parameters will be selected as the initial parameters for the second phase of the optimization method
OPTIMIZATION METHOD IMPLEMENTATION the overall optimization method presented in ‘‘Optimization method’’ section is validated on a 6-degrees of freedom (DOF) RA-cable-driven parallel robots (CDPRs), and the optimal geometry configuration and mobile platform parameters are obtained
Summary
In the conventional automated warehouse system (AWS), the automated storage and retrieval system (AS/RS) has a significant effect on the performance of the overall intralogistics system, including the energy consumption, space utilisation, and operational efficiency. Owing to its inherent mechanical structure, the AS/RS cannot move in three translational directions at the same time; it is difficult to complete certain movements, storage turnover. To solve these problems, cable-driven parallel robots (CDPRs) have been proposed to replace the conventional AS/RS for massive and frequent storage turnover. CDPRs are characterised by high speeds, heavy payloads, and low energy consumption, enabling them to complete the storage turnover efficiently. Hassan and Khajepour [10] proposed a symmetric
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