Publication: Cable-driven parallel robot for smart farming
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Date
2021-07-01
Authors
Ehdi, Phirom Sasomsap
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Abstract
Cable-driven parallel robot or CDPR is the robot that the actuation is transmitted through cables to the end-effector. Based on the specific qualification and the utility of cable
transmission, the CDPR is become popular in this modern day. The purposes of this project are to construct the CDPR which can be operated in term of remote monitoring and irrigation process and to investigate the motion generation of robot during the transmission process. The small scale of CDPR has been constructed which consists of a mechanical structure, microcontroller, driver, computer for programming, and the end-effector that was attached with water nozzle and camera for irrigation and remote monitoring respectively. In this design, the pose of the end-effector is not completely controlled by the cables length and it will depend on the presence of gravity (under-constrained type). The performance of CDPR in term of the accuracy position of the end-effector in order of vertical, horizontal and curvilinear movement has been observed. However, there three factors that can be affected on the unbalancing of the end-effector such as actuators speed, mass of the end-effector and external load. Therefore, the ways to overcome the problems were developed. The speed of the actuators and the mass of the end-effector have been dropped by the reason to reduce the inertia and to avoid the sagging of cable during the transmission system. The unstable of the end-effector is caused by the presence of water tube (external load). Therefore, the center of mass balancing has been designed in the robot.