4 documents found, page 1 of 1
Multi-factor optimization and failure-tolerant design of cable-driven parallel ...
Ghaffar, Asim; Zia Ur Rahman, Muhammad; Leiva, Víctor; Castro, Cecilia; Martin-Barreiro, CarlosThis article presents a framework for optimizing cable-driven parallel manipulators (CPMs) in deep-sea environments, addressing factors as failure tolerance, stiffness, and workspace within a unified framework. While previous studies have examined these factors individually, few have integrated them into a unified framework. The presented framework evaluates CPMs with six, eight, and ten cables, using inverse k...
Optimized design and analysis of cable-based parallel manipulators for enhanced...
Ghaffar, Asim; Rahman, Muhammad Zia Ur; Leiva, Víctor; Castro, CecíliaThe subsea exploration of complex and challenging areas has increased the need for advanced robotic frameworks, such as cable-based parallel manipulators (CPMs). Known for their flexibility and precision, CPMs are essential for performing detailed tasks underwater. In submarine environments, handling external underwater forces presents a significant challenge, necessitating the optimization of cable tension for...
Efficiency, optimality, and selection in a rigid actuation system with matching...
Ghaffar, Asim; Rahman, Muhammad Zia Ur; Leiva, Víctor; Martin-Barreiro, Carlos; Ali, Imran; Cabezas, Xavier; Castro, CeciliaSelecting the right actuator for a portable exoskeleton involves a comprehensive evaluation of various design characteristics. In this study, we introduce a methodology for actuator selection based on specific tasks, enhancing the practical adoption of portable exoskeletons. By examining a range of candidate actuators designed for lower limb exoskeletons, our objective is to engineer a system that is both light...
Fractional transformation-based decentralized robust control of a coupled-tank ...
Rahman, Muhammad Z. U.; Leiva, Victor; Ghaffar, Asim; Martin-Barreiro, Carlos; Waleed, Aashir; Cabezas, Xavier; Castro, CecíliaPetrochemical and dairy industries, waste management, and paper manufacturing fall under the category of process industries where flow and liquid control are essential. Even when liquids are mixed or chemically treated in interconnected tanks, the fluid and flow should constantly be observed and controlled, especially when dealing with nonlinearity and imperfect plant models. In this study, we propose a nonline...