Design optimization of spatial four cables suspended cable driven parallel robot for rapid life-scan

This paper presents the dimension optimization of spatial suspended Cable Driven Parallel Robot (CDPR), with only four cables. The dimension of mobile platform as well as the positions of anchor points on to the mobile platform will be optimized, hence the mobile platform will be able to carry a thermal sensor for rapid-life-scan in the disaster area. The CDPR analyzed in this paper is suspended, thus the dimensioning of mobile platform is related to the performance of CDPR, namely its static and kinematic equilibrium. Six different case studies are investigated to determine the dimension of mobile platform and the positions of exit points on the mobile platform on to the mobile platform that minimize the maximum cable tensions and the maximum cable velocities.