Cable Driven Parallel Robot with Big Interference-Free Workspace

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.