An Underactuated Cable-Driven Parallel Robot for Marine Automated Launch and Recovery Operations

Abstract

This article presents the feasibility study and preliminary testing of an underactuated cable-driven parallel robot for automated launch and recovery operations on the sea surface. The robot frame is mounted onto a primary vessel (PV) subject to sea-induced motions. During launch, the end-effector (EE) is required to deploy a secondary vessel (SV) by lowering it from the PV onto the sea surface. During recovery, the EE has to track and grasp a SV, and the EE-SV assembly needs to be stabilized during lifting from the sea surface to the PV. Sea conditions and the underactuated nature of the EE influence the operational feasibility and the overall robot performance. This article presents the conceptual design and the robot model, as well as the methodologies for winch dimensioning and robot control. An extensive simulation campaign is conducted to optimize performances and assess the system behavior. Finally, the operations are tested on a scaled prototype in a laboratory environment.