@inproceedings{b8918664f1c84a21a65c61f9427ea7c5,
title = "Trajectory Planning of Cable-Driven Parallel Robot with Mobile Cranes",
abstract = "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.",
keywords = "Cable-driven parallel robot, Mobile crane, Optimization, Reconfiguration, Trajectory",
author = "Wiranugeraha, {Made Bhaswara} and Hor Tan and Latifah Nurahmi",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 5th International Conference on Mechanical Engineering, ICOME 2021 ; Conference date: 25-08-2021 Through 26-08-2021",
year = "2023",
doi = "10.1007/978-981-19-0867-5_37",
language = "English",
isbn = "9789811908668",
series = "Lecture Notes in Mechanical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "310--317",
editor = "Ivan Tolj and M.V. Reddy and Achmad Syaifudin",
booktitle = "Recent Advances in Mechanical Engineering - Select Proceedings of ICOME 2021",
address = "Germany",
}