Cable Driven Parallel Robot with Big Interference-Free Workspace

Vincentius A. Handojo, Adlina T. Syamlan, Latifah Nurahmi*, Bambang Pramujati, Mohamad N. Tamara, Unggul Wasiwitono

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Citations (Scopus)


Current evacuation processes of natural disaster pose difficulties, since there are limitations from rescue team as well as workspace provided by existing tools. Cable driven parallel robot (CDPR) is a robot designed to overcome these limitations. It provides a large workspace with high mobility. Accordingly, this research aims to determine the geometric, static, and kinematic models of suspended CDPR consisting of 8 cables for search-and-rescue operation. The dimensions of mobile platform (length, width, and height) and cable arrangements are computed to achieve the largest interference-free workspace. The arrangements are varied based on the combination of anchor points and exit points. The optimum designs are obtained and presented based on three case studies by varying the external forces. The case where the CDPR is subjected to minimal external wrenches performs maximum workspace about 64.8% of the desired workspace.

Original languageEnglish
Title of host publicationMechanism and Machine Science - Select Proceedings of Asian MMS 2018
EditorsDibakar Sen, Gondi Kondaiah Ananthasuresh, Santhakumar Mohan
Number of pages14
ISBN (Print)9789811544767
Publication statusPublished - 2021
Externally publishedYes
Event5th Asian Mechanism and Machine Science Conference, MMS 2018 - Bengaluru, India
Duration: 17 Dec 201920 Dec 2019

Publication series

NameLecture Notes in Mechanical Engineering
ISSN (Print)2195-4356
ISSN (Electronic)2195-4364


Conference5th Asian Mechanism and Machine Science Conference, MMS 2018


  • Cable driven parallel robot
  • Cable interferences
  • Optimum designs
  • Twist feasible workspace
  • Wrench feasible workspace


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