Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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Design of a Cable Array Robot System

Cable Array Robot 시스템 설계

  • Sheen, Dong-Mok (School of Naval Architecture and Ocean Engineering, University of Ulsan) ;
  • Lee, Youn-Am (STX Offshore & Shipbuilding Co., Ltd.)
  • Received : 2011.05.26
  • Accepted : 2011.06.24
  • Published : 2011.08.20
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Abstract

Loading/unloading at sea is necessitated as larger container ships are being used. It is also unavoidable to load/unload at sea during military operations. An experimental cable array robot system, which can be used for loading/unloading at sea, consisting of four cables operated by four motors is designed and built. Even though it has simple structure, it has a large pay-load/robot-weight ratio, flexibility and wide workspace and can be easily built at low cost. In order to plan and control the paths of end-effector, two interpolation methods are introduced and compared. Since the robot is entirely based on cable tension, an analysis of tension is also presented for monitoring and planning purpose.

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References

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