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What is Optimizing Cable Tension in Spray Robots about?

This paper introduces a 9-DOF cable-driven parallel spray-painting robot (CDPSR) designed for automated spraying on large, curved surfaces, featuring a dual-platform composite end effector and driven by 12 cables. It presents a multi-dimensional feasible cable tension region (FCTR) calculation algorithm to optimize cable tension distribution in multi-redundant robots. Experimental results validate the motion performance of the CDPSR and the effectiveness of the FCTR calculation algorithm.

Author

jacopobiolo3

Language

EN