Boundary workspace identification for Cable-Driven Parallel Robots for fast design optimization

Project Description

This project aims to develop a highly efficient and accurate algorithm for identifying the boundary workspace of Cable-Driven Parallel Robots (CDPRs). These robots, a core research area in our lab, utilize cables to manipulate a platform in space. Our goal is to create a method that quickly and precisely defines the region where the robot can operate stably. Current approaches struggle to balance accuracy and computing time. Accurate workspace identification is crucial for assessing robot performance and serves as a cost function for design optimization.

Prerequisites

• Foundation of mathematical analysis
• Foundation of geometry
• Basic knowledge of robot mechanics
• Knowledge of Matlab programming
• Knowledge in bibliographic research
• Interested in the study of complex new theory

Not required but good to have

• Foundation of numerical optimization and methods

Target Objectives

• Study of Cable Robot architecture, modeling, and control
• Study of workspace boundary identification techniques for parallel robots
• Implementation of different algorithms in Matlab for performance comparison
• Analysis of the algorithms’ impact on CDPR performance evaluation, and design optimization
• Improvement of the algorithms for design optimization of Hybrid-Controlled Cable Robots

Expected Results

• A novel and efficient algorithm for CDPR boundary workspace identification.
• Quantitative comparison demonstrating faster computation times.
• Validation of accuracy through comparison with existing methods.
• Potential application of the algorithm in performance evaluation and design optimization.

Apply Now