Conceptual Design and Simulation of Cable-driven Parallel Robot for Inspection and Monitoring Tasks

Abstract

The paper deals with the conceptual design of cable-driven parallel robot which will be used for inspection and monitoring tasks in production process. The reason and need of vision based control of the production process is described in the introduction. Furthermore, mechanisms with parallel kinematic structure are described, as well as their usage in industry and sports broadcasts. On that basis, there is proposed the conceptual design of the cable driven parallel robot (CDPR) for desired task of visual monitoring of production line. Finally, there is proposed a simulation of designed robotic system and workspace shape analysis.

Fractional-order PID controller tuned by particle swarm optimization algorithm for a planar CDPR control

“…The applications of cable-driven parallel robots span various domains, including manufacturing [5], medical robotics [6], entertainment [7], and aerial robotics [8]. Excelling in tasks like pick-and-place operations [9], assembly [10], and inspection and monitoring tasks [11], [12], CDPRs prove to be versatile and efficient in a multitude of scenarios.…”

“…33, No. 3, March 2024: 1500-1510 1504where the components of the matrices outlined in(11) can be computed as(13).…”