Please use this identifier to cite or link to this item:
http://hdl.handle.net/20.500.11889/7901
Title: | Study the effect of changing Cables’ pattern on the workspace of a six DOF floating parallel marine robot (FPMR) | Authors: | Horoub, Mamon M. Horoub, Ayman M.A. Khan, Sikandar Albalasie, Ahmad Ali, Sajid Abu Ajamieh, Ihab Alzaydi, Ammar |
Keywords: | Dynamic response;Reliability (Engineering);Workspace;Floating Parallel Marine Robot;Marine engineering;Stewart-Gough parallel manipulator;Robotics;6–6 and 6–3-3 FPMR | Issue Date: | 2022 | Publisher: | Alexandria Engineering Journal | Abstract: | In this study, a Floating Parallel Marine Robot (FPMR) is studied while it is subjected to external forces generated by the sea waves. Two FPMR cable-bundles’ configurations are used. The 6–6 Stewart-Gough parallel manipulator configuration is compared with a new cable-bundles’ configuration called 6–3-3 FPMR. The effect of changing cable-bundles’ configuration is explored to enhance the workspace and the dynamic behavior of the FPMR. This study is performed using six DOFs FPMR having twelve cables i.e. 6 bundles. Over the FPMR workspace, the dynamic response and platform stiffness are investigated. The workspace and the dynamic analysis of FPMR are enhanced using the new 6–3-3 cable-bundles’ configuration. | URI: | http://hdl.handle.net/20.500.11889/7901 | DOI: | 10.1016/j.aej.2022.08.043 |
Appears in Collections: | Fulltext Publications |
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File | Description | Size | Format | |
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Study the effect of changing Cables’ pattern on the workspace of a six DOF floating parallel marine robot (FPMR).pdf | 3.97 MB | Adobe PDF | View/Open |
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