Simulation of Cable-Driven Parallel Robot (CDPR) for Application in Creating Batik Patterns

The usage of the cable-driven parallel robot (CDPR) is proposed to create a batik pattern. In the proposed CDPR system, the artist can intervene in the pattern-making process to maintain pattern uniqueness. Therefore, to provide the system's flexibility and simplicity, CDPR with four cables will be used where all the cables only connect to the top of the end-effector. The design of four cables with four poles will give a simple structure, and the pole can be moved easily according to the cloth's size, usually in the shape of a rectangle. This flexible design allows the artist to intervene via software or manually push the end effector. In this paper, we explored the cable's length calculation, various path simulations to see system accuracy and flexibility, and the analysis of the CDPR workspace. From the CDPR simulation, we can conclude that the longest cable length needed is 1.22 meters, and the shortest is 0 due to the assumption of the pulley as a point. Implementing inverse kinematics in simulation shows that the end-effector can follow various paths, including straight line, square, circle, diagonal, two-circular, spiral, and planetary orbit. We also calculate the percentage of the area if the pulley has a minimal degree to the pole. With the assumption that the minimal degree is 5°, the %Area we got is 75.6%.