Skip to main content
SpringerLink
Log in

Cable Driven Parallel Robot with Big Interference-Free Workspace

  • Conference paper
  • First Online:
Mechanism and Machine Science

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

Current evacuation processes of natural disaster pose difficulties, since there are limitations from rescue team as well as workspace provided by existing tools. Cable driven parallel robot (CDPR) is a robot designed to overcome these limitations. It provides a large workspace with high mobility. Accordingly, this research aims to determine the geometric, static, and kinematic models of suspended CDPR consisting of 8 cables for search-and-rescue operation. The dimensions of mobile platform (length, width, and height) and cable arrangements are computed to achieve the largest interference-free workspace. The arrangements are varied based on the combination of anchor points and exit points. The optimum designs are obtained and presented based on three case studies by varying the external forces. The case where the CDPR is subjected to minimal external wrenches performs maximum workspace about 64.8% of the desired workspace.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Gough V, Whitewall S (1962) Universal tyre test machine. In: Proceedings of the FISITA 9th international technical congress. pp. 117–137

    Google Scholar 

  2. Gosselin C (2013) Cable-driven parallel mechanism: state of the art. Bullet JSME, 1–17

    Google Scholar 

  3. Caro S, Martin A, Design and modelling of cable driven parallel robots: state of the art and open issues. Lecture Notes

    Google Scholar 

  4. Holland CS, Cannon DJ (2004) Cable array robot for material handling

    Google Scholar 

  5. Gagliardini L, Caro S, Gouttefarde M, Wenger P, Girin A (2014) Optimal design of cable driven parallel robots for large industrial structures. In: International conference on robotics and automation (ICRA)

    Google Scholar 

  6. Nguyen DQ, Goutterfarde M (2014) Study of reconfigurable suspended cable-driven parallel robots for aircraft maintenance. In: International conference on intelligent robots and systems (IROS)

    Google Scholar 

  7. Nguyen DQ, Goutterfarde M, Company O, Pierrot F (2014) On the analysis of large-dimension reconfigurable suspended cable driven parallel robots. In: International conference on robotics and automation (ICRA)

    Google Scholar 

  8. Gagliardini L, Caro S, Gouttefarde M (2015) Dimensioning of cable-driven parallel robots actuators, gearboxes and winches according to the twist feasible workspace. In: International conference on automation science and engineering (CASE)

    Google Scholar 

  9. Gagliardini L, Caro S, Gouttefarde M, Girin A (2016) Discrete reconfiguration planning for cable-driven parallel robots. J Mech Mach Theory 100:313–317

    Article  Google Scholar 

  10. Blanchet L, Merlet J-P (2014) Interference detection for cable driven parallel robot (CDPRS). In: Advanced intelligent mechatronics, pp. 1413–1418

    Google Scholar 

  11. Bosscher PM (2004) Disturbance robustness measures and wrench-feasible workspace generation techniques for cable-driven robots. PhD thesis, Georgia Institute of Technology

    Google Scholar 

  12. Nurahmi L, Pramujati B, Caro S, Hanafie J (2017) Dimension synthesis of suspended eight cables-driven parallel robot for search-and-rescue operation. In: ICAMIMIA

    Google Scholar 

  13. Hanafie J, Nurahmi L, Caro S, Pramujati B (2017) Design optimization of spatial four cables suspend cable driven parallel robot for rapid life-scan. In: ICOME

    Google Scholar 

  14. Guay F, Cardou P, Ruiz AL, Caro S (2011) Measuring how well a structure supports varying external wrenches. In: New advances in mechanisms, transmission and applications, pp. 385–392

    Google Scholar 

  15. Blanchet L, Merlet JP (2014) Interference detection for cable-driven parallel robots (CDPRS). In: International conference on advanced intelligent mechatronics (AIM)

    Google Scholar 

  16. Cardou P, Perreault S, Gosselin CM, Otis MJD (2010) Geometrical determination of the interference-free constant-orientation workspace of parallel cable driven mechanisms. J Mech Robot 2(3):1–9

    Google Scholar 

Download references

Acknowledgements

This work was supported by Ministry of Research and Higher Education of Indonesia, under the scheme of Internal Collaboration Research 2018–2020.

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Institut Sepuluh Nopember, Surabaya, Indonesia

    Vincentius A. Handojo, Adlina T. Syamlan, Latifah Nurahmi, Bambang Pramujati & Unggul Wasiwitono

  2. Politeknik Elektronik Negeri Surabaya, Kampus PENS Surabaya, Surabaya, Indonesia

    Mohamad N. Tamara

Authors
  1. Vincentius A. Handojo
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Adlina T. Syamlan
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Latifah Nurahmi
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Bambang Pramujati
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Mohamad N. Tamara
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Unggul Wasiwitono
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Latifah Nurahmi .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Indian Institute of Science Bangalore, Bangalore, Karnataka, India

    Dibakar Sen

  2. Department of Mechanical Engineering, Indian Institute of Technology Palakkad, Palakkad, India

    Santhakumar Mohan

  3. Department of Mechanical Engineering, Indian Institute of Science Bangalore, Bangalore, Karnataka, India

    Gondi Kondaiah Ananthasuresh

Rights and permissions

Reprints and permissions

Copyright information

© 2021 Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Handojo, V.A., Syamlan, A.T., Nurahmi, L., Pramujati, B., Tamara, M.N., Wasiwitono, U. (2021). Cable Driven Parallel Robot with Big Interference-Free Workspace. In: Sen, D., Mohan, S., Ananthasuresh, G. (eds) Mechanism and Machine Science. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-4477-4_4

Download citation

  • DOI: https://doi.org/10.1007/978-981-15-4477-4_4

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-15-4476-7

  • Online ISBN: 978-981-15-4477-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation