Study the effect of changing Cables’ pattern on the workspace of a six DOF floating parallel marine robot (FPMR)

摘要

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.