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 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. center dot A scheme of the cable-driven parallel robot for landmine detection, installed on vehicle, is developed.center dot The prototype of cable-driven parallel robot for landmine detection is made and tested in laboratory.center dot 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.