Trajectory Planning of Cable-Driven Parallel Robot with Mobile Cranes

AbstractCable-Driven Parallel Robot (CDPR) with mobile crane can be an alternative solution for helping evacuation process in post-disaster sites. This paper aims to carry out the trajectory planning of CDPR with mobile crane and hence the reconfiguration of mobile crane can be executed to avoid instability. This instability occurs due to high cable tension. Trajectory was generated based on fifth-degree polynomial that provides position, velocity, and acceleration profiles of the end-effector. Then, the end-effector moves along the trajectory while the mobile crane adjusting its length. The prototype of CDPR with mobile crane was built to verify the theoretical results. Reconfiguration of CDPR is also proposed to lift higher payload capacity while maintaining stability of the mobile crane.KeywordsCable-driven parallel robotMobile craneTrajectoryReconfigurationOptimization