Dimension synthesis of suspended eight cables-driven parallel robot for search-and-rescue operation

Latifah Nurahmi, Bambang Pramujati, Stephane Caro, Jeffrey

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

8 Citations (Scopus)

Abstract

The area affected by earthquakes is unpredictable and massive. Thus, this paper deals with the development and dimension synthesis of Cable-Driven Parallel Robot (CDPR) for search-and-rescue operation. CDPR is a particular class of parallel robot whose rigid legs are replaced by cables. The idea proposed in this research is suspended CDPR with eight cables. The dimensions of mobile platform were synthesized based on the cable arrangement and the maximum size of Wrench Feasible Workspace (WFW) and Twist Feasible Workspace (TFW) performed by the mobile platform. A pose of mobile platform is said to be wrench feasible when the available wrench set exerted by cables can balance the task wrench set applied on the mobile platform. A pose is said to be twist feasible if the mobile platform can assume a given range of output velocities while satisfying the cable speed limits imposed by the actuators and transmission systems. A set of optimum designs of CDPR is obtained. One of the CDPR design platform length and height are 0.3m and 0.1m, respectively, can reach up to 94% WFW and 33% TFW.

Original languageEnglish
Title of host publicationProceeding - ICAMIMIA 2017
Subtitle of host publicationInternational Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages237-241
Number of pages5
ISBN (Electronic)9781538627297
DOIs
Publication statusPublished - 15 Jun 2018
Event2017 International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, ICAMIMIA 2017 - Surabaya, Indonesia
Duration: 12 Oct 201714 Oct 2017

Publication series

NameProceeding - ICAMIMIA 2017: International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation

Conference

Conference2017 International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, ICAMIMIA 2017
Country/TerritoryIndonesia
CitySurabaya
Period12/10/1714/10/17

Keywords

  • Cable-driven parallel robot
  • search-and-rescue
  • suspended
  • wrench feasible workspace

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