@inproceedings{f7d136cceadc44d5b9b031bd91ea1137,
title = "On the Reconfiguration of Cable-Driven Parallel Robots with Multiple Mobile Cranes",
abstract = "This paper proposes a Cable-Driven Parallel Robot (CDPR) with three mobile cranes for search-and-rescue operations. Each mobile crane is composed of a reconfigurable telescopic boom which can be rotated. A cable is mounted from the tip of the telescopic boom to the end-effector. The locations of mobile cranes are fixed but the configuration of the telescopic boom can be adjusted to enlarge the workspace and to maintain the overall system in equilibrium. The static equilibrium of end-effector and mobile cranes is initially studied to determine the cable tension distribution and wrench-feasible-workspace. To guarantee all mobile cranes to be always in static equilibrium when executing a given task, the telescopic booms are reconfigured. Three case studies for the reconfigurable CDPR with multiple mobile cranes are presented to compare the tension distribution and workspace size.",
keywords = "Cable-driven parallel robot, mobile cranes, reconfigurable, static equilibrium, tension distribution, zero-moment-point",
author = "Hor Tan and Latifah Nurahmi and Bambang Pramujati and Stephane Caro",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 5th International Conference on Robotics and Automation Engineering, ICRAE 2020 ; Conference date: 20-11-2020 Through 22-11-2020",
year = "2020",
month = nov,
day = "20",
doi = "10.1109/ICRAE50850.2020.9310900",
language = "English",
series = "2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "126--130",
booktitle = "2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020",
address = "United States",
}