On the Reconfiguration of Cable-Driven Parallel Robots with Multiple Mobile Cranes

Tan, Hor (2021) On the Reconfiguration of Cable-Driven Parallel Robots with Multiple Mobile Cranes. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

The static equilibrium of end-effector and mobile cranes is initially studied to determine the cable tension distribution and wrench-feasible-workspace. Furthermore, the stability of the mobile cranes is defined by the position of their Zero Moment Point (ZMP). Two case studies for the reconfigurable CDPR with multiple mobile cranes are presented to compare the tension distribution and find crane length variation. For experimental verification, feed-forward plus PID feedback controller is applied to control the prototype. The static equilibrium of CDPR with multiple mobile cranes was presented and discussed. The mobile crane cannot maintain static equilibrium with the cable tension 16.46N. Therefore, the reconfiguration of the crane can avoid instability of the mobile crane. The robot performance by using PID control has acceptable results, with the cable length error between -6mm to 6mm for non-reconfiguration, and -8mm to 8mm for reconfiguration. Accordingly, the verification between theoretical and experimental are matching.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	Cable-driven parallel robot, tension distribution, static equilibrium, zero-moment-point, re-configurable, mobile cranes
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.4 Robot motion T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21101-(S2) Master Thesis
Depositing User:	Hor Tan
Date Deposited:	31 Jul 2021 08:38
Last Modified:	31 Jul 2021 08:45
URI:	http://repository.its.ac.id/id/eprint/84628

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