Cable-Driven Parallel Manipulators (CDPMs) are widely used in many applications, including heavy load transportation, Spidercams, 3D printers, etc. Still, they are restricted from operating in a specific workspace and cannot be used for applications requiring mobility. The current work proposes a novel architecture of Cable-Driven Parallel Manipulator, which has enhanced mobility compared to the existing CDPMs, through a collection of ground vehicles and aerial drones. The proposed system addresses the major drawbacks of existing over-constrained mobile CDPRs that don't have the freedom to vary the cable exit points and simultaneously addresses the inherent lower durability of aerial drones for executing such tasks. The suggested system features cable exit points attached to each of its eight robots, allowing it to freely locate itselfin a better or more appropriate location independent of other robot locations. Aerial drones often have a shorter flying time due to their low battery capacity. The proposed system gives the drones a separate prolonged power source carried by mobile ground robots, which can increase their durability and the system's overall endurance. This paper demonstrates the modelling, simulation and demonstration of navigation for the proposed Quadrotor-based Cable-Driven Parallel Manipulator (QCDPM) system using ROS and CoppeliaSim. The simulated results depict that it is possible to have a full mobile CDPM system using quadrotors.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Modelling and Simulation of Quadrotor-based Cable-Driven Parallel Manipulator


    Beteiligte:


    Erscheinungsdatum :

    01.12.2022


    Format / Umfang :

    764105 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Modeling and Workplace Analysis of 3T Cable-Driven Parallel Manipulator

    Guan, Li Wen ;Mu, Cheng Long ;Hu, Yu Jian | Trans Tech Publications | 2013



    Decouple analysis and simulation of displacement control for cable-driven manipulator

    Weihai, C. / Huihua, W. / Shouqian, Y. et al. | British Library Online Contents | 2007


    Dynamic Modelling and Simulation of a Deployable Quadrotor

    Xiu, Haohua / Xu, Tao / Jones, Anthony H. et al. | IEEE | 2018


    Dynamic Analysis and Control of a Flying Cable Driven Parallel Manipulator Mounted on an Airship

    Abdallah, Fida Ben / Azouz, Naoufel / Beji, Lotfi et al. | IEEE | 2019