Reconfiguration of Cable Driven Parallel Robot Based on Mobile Base Position

This paper studies reconfiguration scenarios of cable driven prallel robot with three mobile bases. The position of three mobile bases can be reconfigured to move back-and-forth. Dynamic equilibrium of the robot is initially derived. A fifth-degree polynomial is used to generate trajectory which sho...

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Published in:International Conference on Industrial Mechatronics and Automation (Online) pp. 563 - 568
Main Authors: Muntashir, Rizal, Nurahmi, Latifah
Format: Conference Proceeding
Language:English
Published: IEEE 07.08.2022
Subjects:
Cable-Driven Parallel Robot
End effectors
Mechatronics
Mobile robots
Parallel Manipulator
Parallel robots
Trajectory
Upper bound
Wheels
ISSN:2152-744X
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Abstract This paper studies reconfiguration scenarios of cable driven prallel robot with three mobile bases. The position of three mobile bases can be reconfigured to move back-and-forth. Dynamic equilibrium of the robot is initially derived. A fifth-degree polynomial is used to generate trajectory which should be followed by the end-effector. During executing a task, the end-effector may tip over due to high cable tension which leads to the loss of wheel reaction forces. To avoid this problem, a concept of Zero Moment Point is applied to maintain robot stability via mobile base reconfiguration. By changing the mobile base position, cable tension can also be reduced which eventually reduce the posibility of tip over. Computatioal results are provided to show the significant impact of reconfiguration to robot stability. Control design and experiment will be the subject of future research.
AbstractList This paper studies reconfiguration scenarios of cable driven prallel robot with three mobile bases. The position of three mobile bases can be reconfigured to move back-and-forth. Dynamic equilibrium of the robot is initially derived. A fifth-degree polynomial is used to generate trajectory which should be followed by the end-effector. During executing a task, the end-effector may tip over due to high cable tension which leads to the loss of wheel reaction forces. To avoid this problem, a concept of Zero Moment Point is applied to maintain robot stability via mobile base reconfiguration. By changing the mobile base position, cable tension can also be reduced which eventually reduce the posibility of tip over. Computatioal results are provided to show the significant impact of reconfiguration to robot stability. Control design and experiment will be the subject of future research.
Author Nurahmi, Latifah
Muntashir, Rizal
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  givenname: Rizal
  surname: Muntashir
  fullname: Muntashir, Rizal
  email: rizalmuntashir.206007@mhs.its.ac.id
  organization: Institut Teknologi Sepuluh Nopember,Department of Mechanical Engineering,Surabaya,Indonesia
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  givenname: Latifah
  surname: Nurahmi
  fullname: Nurahmi, Latifah
  email: latifah.nurahmi@me.its.ac.id
  organization: Institut Teknologi Sepuluh Nopember,Department of Mechanical Engineering,Surabaya,Indonesia
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Snippet This paper studies reconfiguration scenarios of cable driven prallel robot with three mobile bases. The position of three mobile bases can be reconfigured to...
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StartPage 563
SubjectTerms Cable-Driven Parallel Robot
End effectors
Mechatronics
Mobile robots
Parallel Manipulator
Parallel robots
Trajectory
Upper bound
Wheels
Title Reconfiguration of Cable Driven Parallel Robot Based on Mobile Base Position
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