Cable Driven Parallel Robot with Big Interference-Free Workspace

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

doi:10.1007/978-981-15-4477-4_4

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 proceeding › Conference contribution › peer-review

6 Citations (Scopus)

Abstract

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 language	English
Title of host publication	Mechanism and Machine Science - Select Proceedings of Asian MMS 2018
Editors	Dibakar Sen, Gondi Kondaiah Ananthasuresh, Santhakumar Mohan
Publisher	Springer
Pages	43-56
Number of pages	14
ISBN (Print)	9789811544767
DOIs	https://doi.org/10.1007/978-981-15-4477-4_4
Publication status	Published - 2021
Externally published	Yes
Event	5th Asian Mechanism and Machine Science Conference, MMS 2018 - Bengaluru, India Duration: 17 Dec 2019 → 20 Dec 2019

Publication series

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

Conference

Conference	5th Asian Mechanism and Machine Science Conference, MMS 2018
Country/Territory	India
City	Bengaluru
Period	17/12/19 → 20/12/19

Keywords

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

Access to Document

10.1007/978-981-15-4477-4_4

Cite this

Handojo, V. A., Syamlan, A. T., Nurahmi, L., Pramujati, B., Tamara, M. N., & Wasiwitono, U. (2021). Cable Driven Parallel Robot with Big Interference-Free Workspace. In D. Sen, G. K. Ananthasuresh, & S. Mohan (Eds.), Mechanism and Machine Science - Select Proceedings of Asian MMS 2018 (pp. 43-56). (Lecture Notes in Mechanical Engineering). Springer. https://doi.org/10.1007/978-981-15-4477-4_4

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title = "Cable Driven Parallel Robot with Big Interference-Free Workspace",

abstract = "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.",

keywords = "Cable driven parallel robot, Cable interferences, Optimum designs, Twist feasible workspace, Wrench feasible workspace",

author = "Handojo, {Vincentius A.} and Syamlan, {Adlina T.} and Latifah Nurahmi and Bambang Pramujati and Tamara, {Mohamad N.} and Unggul Wasiwitono",

note = "Publisher Copyright: {\textcopyright} 2021, Springer Nature Singapore Pte Ltd.; 5th Asian Mechanism and Machine Science Conference, MMS 2018 ; Conference date: 17-12-2019 Through 20-12-2019",

year = "2021",

doi = "10.1007/978-981-15-4477-4_4",

language = "English",

isbn = "9789811544767",

series = "Lecture Notes in Mechanical Engineering",

publisher = "Springer",

pages = "43--56",

editor = "Dibakar Sen and Ananthasuresh, {Gondi Kondaiah} and Santhakumar Mohan",

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}

Handojo, VA, Syamlan, AT, Nurahmi, L , Pramujati, B, Tamara, MN & Wasiwitono, U 2021, Cable Driven Parallel Robot with Big Interference-Free Workspace. in D Sen, GK Ananthasuresh & S Mohan (eds), Mechanism and Machine Science - Select Proceedings of Asian MMS 2018. Lecture Notes in Mechanical Engineering, Springer, pp. 43-56, 5th Asian Mechanism and Machine Science Conference, MMS 2018, Bengaluru, India, 17/12/19. https://doi.org/10.1007/978-981-15-4477-4_4

Cable Driven Parallel Robot with Big Interference-Free Workspace. / Handojo, Vincentius A.; Syamlan, Adlina T.; Nurahmi, Latifah et al.
Mechanism and Machine Science - Select Proceedings of Asian MMS 2018. ed. / Dibakar Sen; Gondi Kondaiah Ananthasuresh; Santhakumar Mohan. Springer, 2021. p. 43-56 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Cable Driven Parallel Robot with Big Interference-Free Workspace

AU - Handojo, Vincentius A.

AU - Syamlan, Adlina T.

AU - Nurahmi, Latifah

AU - Pramujati, Bambang

AU - Tamara, Mohamad N.

AU - Wasiwitono, Unggul

PY - 2021

Y1 - 2021

N2 - 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.

AB - 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.

KW - Cable driven parallel robot

KW - Cable interferences

KW - Optimum designs

KW - Twist feasible workspace

KW - Wrench feasible workspace

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BT - Mechanism and Machine Science - Select Proceedings of Asian MMS 2018

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A2 - Ananthasuresh, Gondi Kondaiah

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PB - Springer

T2 - 5th Asian Mechanism and Machine Science Conference, MMS 2018

Y2 - 17 December 2019 through 20 December 2019

ER -

Cable Driven Parallel Robot with Big Interference-Free Workspace

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Keywords

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