Trajectory Planning of Cable-Driven Parallel Robot with Mobile Cranes

Made Bhaswara Wiranugeraha, Hor Tan, Latifah Nurahmi*

*Corresponding author for this work

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


Cable-Driven Parallel Robot (CDPR) with mobile crane can be an alternative solution for helping evacuation process in post-disaster sites. This paper aims to carry out the trajectory planning of CDPR with mobile crane and hence the reconfiguration of mobile crane can be executed to avoid instability. This instability occurs due to high cable tension. Trajectory was generated based on fifth-degree polynomial that provides position, velocity, and acceleration profiles of the end-effector. Then, the end-effector moves along the trajectory while the mobile crane adjusting its length. The prototype of CDPR with mobile crane was built to verify the theoretical results. Reconfiguration of CDPR is also proposed to lift higher payload capacity while maintaining stability of the mobile crane.

Original languageEnglish
Title of host publicationRecent Advances in Mechanical Engineering - Select Proceedings of ICOME 2021
EditorsIvan Tolj, M.V. Reddy, Achmad Syaifudin
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages8
ISBN (Print)9789811908668
Publication statusPublished - 2023
Event5th International Conference on Mechanical Engineering, ICOME 2021 - Virtual, Online
Duration: 25 Aug 202126 Aug 2021

Publication series

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


Conference5th International Conference on Mechanical Engineering, ICOME 2021
CityVirtual, Online


  • Cable-driven parallel robot
  • Mobile crane
  • Optimization
  • Reconfiguration
  • Trajectory


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