Dimension synthesis of suspended eight cables-driven parallel robot for search-and-rescue operation

摘要

The area affected by earthquakes is unpredictable and massive. Thus, this paper deals with the development and dimension synthesis of Cable-Driven Parallel Robot (CDPR) for search-and-rescue operation. CDPR is a particular class of parallel robot whose rigid legs are replaced by cables. The idea proposed in this research is suspended CDPR with eight cables. The dimensions of mobile platform were synthesized based on the cable arrangement and the maximum size of Wrench Feasible Workspace (WFW) and Twist Feasible Workspace (TFW) performed by the mobile platform. A pose of mobile platform is said to be wrench feasible when the available wrench set exerted by cables can balance the task wrench set applied on the mobile platform. A pose is said to be twist feasible if the mobile platform can assume a given range of output velocities while satisfying the cable speed limits imposed by the actuators and transmission systems. A set of optimum designs of CDPR is obtained. One of the CDPR design platform length and height are 0.3m and 0.1m, respectively, can reach up to 94% WFW and 33% TFW.