Modelling and Simulation of Quadrotor-based Cable-Driven Parallel Manipulator

摘要

Cable-Driven Parallel Manipulators (CDPMs) are widely used in many applications, including heavy load transportation, Spidercams, 3D printers, etc. Still, they are restricted from operating in a specific workspace and cannot be used for applications requiring mobility. The current work proposes a novel architecture of Cable-Driven Parallel Manipulator, which has enhanced mobility compared to the existing CDPMs, through a collection of ground vehicles and aerial drones. The proposed system addresses the major drawbacks of existing over-constrained mobile CDPRs that don't have the freedom to vary the cable exit points and simultaneously addresses the inherent lower durability of aerial drones for executing such tasks. The suggested system features cable exit points attached to each of its eight robots, allowing it to freely locate itselfin a better or more appropriate location independent of other robot locations. Aerial drones often have a shorter flying time due to their low battery capacity. The proposed system gives the drones a separate prolonged power source carried by mobile ground robots, which can increase their durability and the system's overall endurance. This paper demonstrates the modelling, simulation and demonstration of navigation for the proposed Quadrotor-based Cable-Driven Parallel Manipulator (QCDPM) system using ROS and CoppeliaSim. The simulated results depict that it is possible to have a full mobile CDPM system using quadrotors.