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

Nurahmi, Latifah; Pramujati, Bambang; Caro, Stéphane; Jeffrey, Jeffrey

doi:10.1109/icamimia.2017.8387594

Cited by 8 publications

(6 citation statements)

References 10 publications

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“…Let Ωm: = 4λ max (P)d F F + 4F 2 ; if there exist some t > 0 such that V(t) > Γ − 1 Ω m , then, it follows from ( 33) and ( 46) that…”

Section: Performance Analysis Of the Adaptive Auxiliarymentioning

confidence: 99%

“…On the one hand, using autonomous robots for operation work can greatly save labor costs and significantly improve work efficiency; on the other hand, it can liberate people from heavy labor, especially the labor in dangerous and harmful environments. At present, some ground mobile robots have been applied to postearthquake rescue [2], some underwater robots have been applied to oceanic biological sample collection [3], and some space robots have been used in space exploration [4]. Although ground mobile robots, underwater robots, and space robots have been widely used, the application of aerial robots is still in its infancy all over the world.…”

Section: Introductionmentioning

confidence: 99%

“…e current unmanned aerial vehicles play an important role in monitoring activities, such as aerial photography and high-voltage line inspection [5], but do not have the ability to physically interact with the environment. However, the aerial operation robot (aerial manipulator) has great application value in the following three aspects: (1) replacing manpower to complete dangerous tasks, such as urban antiterrorism and high-rise building firefighting [6]; (2) replacing manpower to improve efficiency, as in wide-area scientific examination and collection [7]; (3) replacing manpower to reduce costs, as in infrastructure maintenance and remote operation in complex environment [8].…”

Section: Introductionmentioning

confidence: 99%

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An Innovative Aerial Manipulator with Tandem Ducted Fans: Modeling, Control, and Simulation

et al. 2020

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This paper proposes an innovative ducted fan aerial manipulator, which is particularly suitable for the tasks in confined environment, where traditional multirotors and helicopters would be inaccessible. The dynamic model of the aerial manipulator is established by comprehensive mechanism and parametric frequency-domain identification. On this basis, a composite controller of the aerial platform is proposed. A basic static robust controller is designed via H-infinity synthesis to achieve basic performance, and an adaptive auxiliary loop is designed to estimate and compensate for the effect acting on the vehicle from the manipulator. The computer simulation analyses show good stability of the aerial vehicle under the manipulator motion and good tracking performance of the manipulator end effector, which verify the feasibility of the proposed aerial manipulator design and the effectiveness of the proposed controller, indicating that the system can meet the requirements of high precision operation tasks well.

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“…Let Ωm: = 4λ max (P)d F F + 4F 2 ; if there exist some t > 0 such that V(t) > Γ − 1 Ω m , then, it follows from ( 33) and ( 46) that…”

Section: Performance Analysis Of the Adaptive Auxiliarymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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An Innovative Aerial Manipulator with Tandem Ducted Fans: Modeling, Control, and Simulation

et al. 2020

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“…The installation of these pulleys can generate some difficulties, mainly during the passage of the cable in the sheave if it is equipped with a fixing ring, for example. In the aim to have removable CDPR for a fast re-assembly [29], it is necessary to use conventional pulleys, that eases their implementation. In these studies, it is analysed whether such pulleys can be used in the CDPR design.…”

Section: Igm E With Single Revolute Joint Pulleymentioning

confidence: 99%

“…In the aim of mass-reduction and facilitating transportation of CDPR [29], that is, mountable easily and quickly, the use of the double revolute joint pulley, as shown in Fig. 3, can be an economically interesting solution, which have never been used in the design of CDPRs.…”

Section: Igm E With Double Revolute Joint Pulleymentioning

confidence: 99%

Cable-driven parallel robot modelling considering pulley kinematics and cable elasticity

Paty

Binaud

Caro

et al. 2021

Mechanism and Machine Theory

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Cable Driven Parallel Robots (CDPRs) are parallel robots, in which the limbs are replaced by cables that are guided by pulleys. In many papers, the pulleys are considered as fixed points of passage and the cable elasticity is neglected. Those approximations simplify the robot modelling, but lead to some Moving-Platform (MP) pose errors. This paper deals with the modelling of suspended CDPRs considering the geometry and kinematics of the pulleys as well as the cable elasticity. Furthermore, a novel pulley architecture with an universal joint is designed. It is introduced to increase the accuracy of CDPRs and limit the bending moment in the pulleys. Then a sensitivity analysis conducted on these newly established models allows to precisely quantify the effect of design parameters on the MP pose and to exhibit the set of the most influentials elasto-geometric parameters. Both standard and extended direct elasto-geometric static models of the CDPRs are numerically solved to determine the MP pose for given cable lengths and external wrench. Then, an index is defined based on the MP pose difference, the latter being traced through the robot Cartesian workspace. This index is used to analyze and compare the pulleys effects on the MP pose errors. It turns out that the interaction between pulleys geometrical parameters are significant and should be considered in the elasto-geometric static models. Finally, it is shown that a CDPR equipped with the novel pulley architecture is more sensitive to cable elasticity, but this new architecture helps reducing the overall MP error.

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Cable Driven Parallel Robot with Big Interference-Free Workspace

Handojo

Syamlan

Nurahmi

et al. 2020

Lecture Notes in Mechanical Engineering

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

Cited by 8 publications

References 10 publications

An Innovative Aerial Manipulator with Tandem Ducted Fans: Modeling, Control, and Simulation

An Innovative Aerial Manipulator with Tandem Ducted Fans: Modeling, Control, and Simulation

Cable-driven parallel robot modelling considering pulley kinematics and cable elasticity

Cable Driven Parallel Robot with Big Interference-Free Workspace

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