On the Reconfiguration of Cable-Driven Parallel Robots with Multiple Mobile Cranes

Hor Tan, Latifah Nurahmi, Bambang Pramujati, Stephane Caro

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

19 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages126-130
Number of pages5
ISBN (Electronic)9781728189819
DOIs
Publication statusPublished - 20 Nov 2020
Event5th International Conference on Robotics and Automation Engineering, ICRAE 2020 - Virtual, Singapore, Singapore
Duration: 20 Nov 202022 Nov 2020

Publication series

Name2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020

Conference

Conference5th International Conference on Robotics and Automation Engineering, ICRAE 2020
Country/TerritorySingapore
CityVirtual, Singapore
Period20/11/2022/11/20

Keywords

  • Cable-driven parallel robot
  • mobile cranes
  • reconfigurable
  • static equilibrium
  • tension distribution
  • zero-moment-point

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