Optimizing Cable-Driven Parallel Manipulators for Shallow-Water Applications: A Quasi-Static Method to Failure Analysis and Ship Positioning

Abstract

Abstract. Cable-driven parallel manipulators (CDPMs) offer large workspaces and adaptable architectures, making them attractive for a variety of tasks ranging from industrial automation to marine applications. However, cable failures—such as breakage, jamming, sensor faults, or actuator malfunctions— may critically compromise system reliability. In this article, we present a quasi-static failure analysis based on a simplified static cable model to quantify how a ruptured cable affects both end-effector pose and tension redistribution. While hydrodynamic forces and cable elasticity are excluded, our results indicate that repositioning surface anchors—such as those attached to ships— can effectively reduce excessive tensions and prevent slack-cable events. We compare six-, eight-, and ten-cable configurations to illustrate how redundancy influences postfailure stability and control. Numerical findings indicate that judicious anchor placement lowers peak tension fluctuations and improves overall failure tolerance. This analysis supports the early-stage design and deployment of CDPMs in marine or other large-scale environments and provides a foundation for future models incorporating hydrodynamics, cable elasticity, and transient rupture effects.