A three-cable parallel robot was developed for naval missile systems for automatic transfer and loading of the missile with improved loading safety and efficiency. A two-step optimization method was used to completely consider the construction difficulties, weight and cost of the missile loading system with a global search optimization and a local search optimization. The global search considers all the search parameters to determine the tower height as the key design parameter. Then, a cantilever displacement formula is used to relate the cable tower height and diameter with a dimensionless optimization function for the cable force rate of change as a function of the tower height. An optimization function is then used to minimize the maximum cable force. This design optimization method is useful for designing naval automatic projectile loading systems.
YANG Jifeng
,
YAO Rui
,
CHEN Jie
. Cable-driven projectile loading robot[J]. Journal of Tsinghua University(Science and Technology), 2021
, 61(3)
: 217
-223
.
DOI: 10.16511/j.cnki.qhdxxb.2020.26.025
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