ON THE APPLICATIVE WORKSPACE AND THE MECHANISM OF AN AGRICULTURE 3-DOF 4-CABLE-DRIVEN ROBOT

Reza Vafapour, Mohammad Reza Gharib, Mostafa Honari-Torshizi, and Mojtaba Ghorbani

Keywords

Cable-driven parallel robot (CDPR), agriculture robot, force-closureworkspace (FCW), wind-induced vibrations, spool–pulley mecha-nism

Abstract

Some major problems pose by utilizing cable-driven robots for agricultural or gardening purposes, concerning the wide, windy, and dusty environment in which the robot performs its operation, as well as the mechanical and physical properties of the soil. This study presents a large-scale 4-cable robot for some agricultural activities. To determine the practical workspace of the robot, singularities, cables’ tensions, motors’ maximum torques, and wind- induced vibrations, which are of great importance for the purposes the robot follows, are investigated. This investigation reveals the workspace limitations for the robot’s end-effector to be restricted to move around. Finally, a model is presented to achieve an ideal design for the robot’s motor-to-pulley mechanism, focusing on the adjustability of its several joints. The figures are plotted using MATLAB, and the model is drawn in SolidWorks.

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