Cable base parallel manipulator for under water environment

Cable-suspended robots are structurally similar to parallel actuated robots, but with the fundamental difference that cables can only pull the end-effector, but not push it. These input constraints make control of cable-suspended robots a lot more challenging than their counterpart parallel-actuated

Project Title

Cable base parallel manipulator for under water environment

Project Area of Specialization

Mechatronics Engineering

Project Summary

Cable-suspended robots are structurally similar to parallel actuated robots, but with the fundamental difference that cables can only pull the end-effector, but not push it. These input constraints make control of cable-suspended robots a lot more challenging than their counterpart parallel-actuated robots. In this project, we present a computationally efficient control design procedure for a cable robot with four cables, which is kinematically determined as long as all cables are in tension. The control strategy is based ofn dynamic aspects of statically feasible workspace. The basic idea suggested in this project is to represent the reachable domain in terms of achievable set points under a specified control law that respects the input constraints. However, due to the complexity of the dynamics of general motion of a cable robot, we consider only translations. No cable interference is considered in this project. Finally, the effectiveness of the proposed method is illustrated by numerical simulations and experiments on a four-degree-of-freedom cable-suspended robot.

Project Objectives

Structural Modification in the existing design

Implementation of Control system for cable driven parallel manipulator.

Structural stability in the improved design

manipulator move to respective place

Project Implementation Method

The power supply gives the 12v, then buck converter converts the 12V supply to 5V to give power to motor drivers, and the 12V supply directly goes to stepper motors( Nima 23).when the user type desire coordinates by using serial monitor in Arduino IDE software, Arduino give signal to  motors through motor drivers and dip switches. The whole calculation for steps to take by motors is calculated through Arduino coding.

Benefits of the Project

Cable base parallel manipulator working in underwater environment have a positive effect on under research projects.

Some of the typical benefits of CBPM are

• Increased Research work

• Best for underwater working

• Many tools attach to end factor

However, these benefits of CBPM need active planning, implementation, and control process.

Technical Details of Final Deliverable

User give the coordinates on serial monitor of Arduino software and the end factor of the manipulator will move to the desire position.

User just need to plug the USB with computer which will further attach to the Arduino. Then he/she has to open the Arduino IDE software and open the serial monitor and give the desire coordinates.

Make sure to turn on the cooling fan in order to eliminate the heat of motor drivers

Make sure electric circuit is far away from water

Final Deliverable of the Project

Hardware System

Core Industry

Others

Other Industries

Core Technology

Robotics

Other Technologies

Others

Sustainable Development Goals

Industry, Innovation and Infrastructure, Partnerships to achieve the Goal

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com