Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations
Autor(a) principal: | |
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Data de Publicação: | 2024 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | https://hdl.handle.net/1822/89151 |
Resumo: | The subsea exploration of complex and challenging areas has increased the need for advanced robotic frameworks, such as cable-based parallel manipulators (CPMs). Known for their flexibility and precision, CPMs are essential for performing detailed tasks underwater. In submarine environments, handling external underwater forces presents a significant challenge, necessitating the optimization of cable tension for effective operation of CPMs. Additionally, achieving a balance between an increased workspace volume and improved manipulator stiffness is crucial. Addressing these challenges, this article presents a design and optimization approach for CPMs. The focus is on the eight- and ten-cable configurations, specifically chosen for their optimal balance of complexity and control. To enhance the efficiency and effectiveness of CPMs in these demanding environments, the article proposes several optimizations, including adjustments in workspace dynamics, cable tension, system layout, and manipulator stiffness. The proposed methodology involves innovative approaches, including an adaptation of the Dykstra algorithm, to refine cable tension optimization, and explores layout optimization strategies to achieve an ideal balance between enlarged workspace and enhanced manipulator stiffness. A key aspect of the present research is the stiffness analysis via natural frequencies, establishing an essential link between detailed design choices and overall manipulator performance. The findings reveal that meticulous design and optimization of CPMs significantly enhance operational efficiency, range, and stability in underwater environments. These advancements provide valuable insights for the broader application of cable-based manipulators in complex underwater tasks, establishing new benchmarks in the field and laying the foundation for future innovations in underwater robotic systems. |
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Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operationsDykstra algorithmLayout optimizationStiffness modelingSubsea environmentsCiências Naturais::MatemáticasEducação de qualidadeThe subsea exploration of complex and challenging areas has increased the need for advanced robotic frameworks, such as cable-based parallel manipulators (CPMs). Known for their flexibility and precision, CPMs are essential for performing detailed tasks underwater. In submarine environments, handling external underwater forces presents a significant challenge, necessitating the optimization of cable tension for effective operation of CPMs. Additionally, achieving a balance between an increased workspace volume and improved manipulator stiffness is crucial. Addressing these challenges, this article presents a design and optimization approach for CPMs. The focus is on the eight- and ten-cable configurations, specifically chosen for their optimal balance of complexity and control. To enhance the efficiency and effectiveness of CPMs in these demanding environments, the article proposes several optimizations, including adjustments in workspace dynamics, cable tension, system layout, and manipulator stiffness. The proposed methodology involves innovative approaches, including an adaptation of the Dykstra algorithm, to refine cable tension optimization, and explores layout optimization strategies to achieve an ideal balance between enlarged workspace and enhanced manipulator stiffness. A key aspect of the present research is the stiffness analysis via natural frequencies, establishing an essential link between detailed design choices and overall manipulator performance. The findings reveal that meticulous design and optimization of CPMs significantly enhance operational efficiency, range, and stability in underwater environments. These advancements provide valuable insights for the broader application of cable-based manipulators in complex underwater tasks, establishing new benchmarks in the field and laying the foundation for future innovations in underwater robotic systems.The authors would like to thank the editors and reviewers for their constructive comments which led to the improvement of the presentation of the article. Our research was partially funded by FONDECYT, Chile, grant number 1200525,(V. Leiva) from the National Agency for Research and Development (ANID) of the Chilean government under the Ministry of Science, Technology, Knowledge, and Innovation; as well as by Portuguese funds through the CMAT –Research Centre of Mathematics of the University of Minho, Portugal, within projects UIDB/00013/2020 https://doi.org/10.54499/UIDB/00013/2020 and UIDP/00013/2020 https://doi.org/10.54499/UIDP/00013/2020 (C. Castro)ElsevierUniversidade do MinhoGhaffar, AsimRahman, Muhammad Zia UrLeiva, VíctorCastro, Cecília20242024-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/1822/89151engGhaffar, A., Rahman, M. Z. U., Leiva, V., & Castro, C. (2024, April). Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations. Ocean Engineering. Elsevier BV. http://doi.org/10.1016/j.oceaneng.2024.1170120029-801810.1016/j.oceaneng.2024.117012https://www.sciencedirect.com/science/article/abs/pii/S0029801824003494info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-03-02T01:19:44Zoai:repositorium.sdum.uminho.pt:1822/89151Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:11:50.003674Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations |
title |
Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations |
spellingShingle |
Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations Ghaffar, Asim Dykstra algorithm Layout optimization Stiffness modeling Subsea environments Ciências Naturais::Matemáticas Educação de qualidade |
title_short |
Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations |
title_full |
Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations |
title_fullStr |
Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations |
title_full_unstemmed |
Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations |
title_sort |
Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations |
author |
Ghaffar, Asim |
author_facet |
Ghaffar, Asim Rahman, Muhammad Zia Ur Leiva, Víctor Castro, Cecília |
author_role |
author |
author2 |
Rahman, Muhammad Zia Ur Leiva, Víctor Castro, Cecília |
author2_role |
author author author |
dc.contributor.none.fl_str_mv |
Universidade do Minho |
dc.contributor.author.fl_str_mv |
Ghaffar, Asim Rahman, Muhammad Zia Ur Leiva, Víctor Castro, Cecília |
dc.subject.por.fl_str_mv |
Dykstra algorithm Layout optimization Stiffness modeling Subsea environments Ciências Naturais::Matemáticas Educação de qualidade |
topic |
Dykstra algorithm Layout optimization Stiffness modeling Subsea environments Ciências Naturais::Matemáticas Educação de qualidade |
description |
The subsea exploration of complex and challenging areas has increased the need for advanced robotic frameworks, such as cable-based parallel manipulators (CPMs). Known for their flexibility and precision, CPMs are essential for performing detailed tasks underwater. In submarine environments, handling external underwater forces presents a significant challenge, necessitating the optimization of cable tension for effective operation of CPMs. Additionally, achieving a balance between an increased workspace volume and improved manipulator stiffness is crucial. Addressing these challenges, this article presents a design and optimization approach for CPMs. The focus is on the eight- and ten-cable configurations, specifically chosen for their optimal balance of complexity and control. To enhance the efficiency and effectiveness of CPMs in these demanding environments, the article proposes several optimizations, including adjustments in workspace dynamics, cable tension, system layout, and manipulator stiffness. The proposed methodology involves innovative approaches, including an adaptation of the Dykstra algorithm, to refine cable tension optimization, and explores layout optimization strategies to achieve an ideal balance between enlarged workspace and enhanced manipulator stiffness. A key aspect of the present research is the stiffness analysis via natural frequencies, establishing an essential link between detailed design choices and overall manipulator performance. The findings reveal that meticulous design and optimization of CPMs significantly enhance operational efficiency, range, and stability in underwater environments. These advancements provide valuable insights for the broader application of cable-based manipulators in complex underwater tasks, establishing new benchmarks in the field and laying the foundation for future innovations in underwater robotic systems. |
publishDate |
2024 |
dc.date.none.fl_str_mv |
2024 2024-01-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://hdl.handle.net/1822/89151 |
url |
https://hdl.handle.net/1822/89151 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Ghaffar, A., Rahman, M. Z. U., Leiva, V., & Castro, C. (2024, April). Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations. Ocean Engineering. Elsevier BV. http://doi.org/10.1016/j.oceaneng.2024.117012 0029-8018 10.1016/j.oceaneng.2024.117012 https://www.sciencedirect.com/science/article/abs/pii/S0029801824003494 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
Elsevier |
publisher.none.fl_str_mv |
Elsevier |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
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Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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RCAAP |
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RCAAP |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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