Design of a cable-driven parallel robot for landmine detection

A cable-driven parallel robot (CDPR) for landmine detection, mounted on a vehicle is developed in this work. In the CDPR, the end effector (EE) is suspended on flexible cables, in contrast to the rigid links in traditional parallel robots. Compared to traditional parallel robots, the CDPR have lower...

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Bibliographic Details
Published in:SN applied sciences 2023-11, Vol.5 (11), p.299-13, Article 299
Main Authors: Jomartov, Assylbek, Tuleshov, Amandyk, Kamal, Aziz, Abduraimov, Azizbek
Format: Article
Language:English
Subjects:
Applied and Technical Physics
Cable-driven parallel robot
Cables
Chemistry/Food Science
Design
Earth Sciences
End effectors
Engineering
Environment
Land mines
Landmine detection
Materials Science
Metal detector
Metal detectors
Mine detection
Periodic functions
Prototype
Prototypes
Research Article
Robots
Scanning
Stepped trajectory
Tension control
Vehicles
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Summary:A cable-driven parallel robot (CDPR) for landmine detection, mounted on a vehicle is developed in this work. In the CDPR, the end effector (EE) is suspended on flexible cables, in contrast to the rigid links in traditional parallel robots. Compared to traditional parallel robots, the CDPR have lower inertial characteristics and higher payload-to-weight ratio, resulting in a high speed. The CDPR for landmine detection operates in search mode, lowers the end EE to the possible lower position and the metal detector scanning the minefield. After scanning the area of the minefield, limited by the workspace of the CDPR in the X, Y plane, the information received is transmitted to the sappers. Tests of a prototype of a CDPR for landmine detection showed good performance of its work for detecting landmine. Article highlights • A scheme of the cable-driven parallel robot for landmine detection, installed on vehicle, is developed. • The prototype of cable-driven parallel robot for landmine detection is made and tested in laboratory. • The operation of cable-driven parallel robot for landmine detection is improved, due to the use of a smooth periodic function, for the end effector trajectory.
ISSN:2523-3963
2523-3971
DOI:10.1007/s42452-023-05533-2