Reconfiguration Of Cable Driven Parallel Robot Based On Mobile Robot Position

Muntashir, Rizal (2022) Reconfiguration Of Cable Driven Parallel Robot Based On Mobile Robot Position. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

This research studies reconfiguration scenarios of cable driven parallel 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 possibility of tip over. Computational results are provided to show the significant impact of reconfiguration to robot stability. Control design and experiment will be the subject of future research

Item Type:	Thesis (Other)
Additional Information:	RTM 629.892 Mun r-1 2022
Uncontrolled Keywords:	Disaster Robot, Cable Driven Parallel Robot, Reconfigurable, Mobile base position
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21101-(S2) Master Thesis
Depositing User:	Mr. Marsudiyana -
Date Deposited:	13 Feb 2025 02:07
Last Modified:	13 Feb 2025 02:07
URI:	http://repository.its.ac.id/id/eprint/118706

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