Singapore Institute of Technology
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Investigation to Enhance the Actuation Force Transmission of Cable-Driven Continuum Manipulators with Tethering Lines

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conference contribution
posted on 2022-11-21, 09:25 authored by Landong MartuaLandong Martua, Mustafa Shabbir KurbanhusenMustafa Shabbir Kurbanhusen, Nyein Aung Chan

A unique combination of an aerial drone, integrated with a lightweight cable-driven manipulator and a ground unit containing the cable winching actuators and the motion control system, was proposed for inspection of confined spaces at elevated locations. This paper focuses on the investigation of designing tethering lines with high force transmission, through the use of Design-of experiments to identify relevant and dominant design variables for design optimization.


Journal/Conference/Book title

Proceedings of the 9th International Conference of Asian Society for Precision Engineering and Nanotechnology (ASPEN2022)

Publication date



  • Published

Rights statement

©2022 ASPEN 2022 Organisers. ISBN: 978-981-18-6021-8.All rights reserved.

Corresponding author

Assoc. Prof. Mustafa Shabbir Kurbanhusen,

Project ID

  • 6533 (R-STR-A403-A002) Intelligent Ground-Aerial Robots for Closed Quarters Interactive Operations