Design and Implementation of Four Cables Suspended Cable-driven Parallel Robot for Pendulum Batik Machine
Alfisena Juwandana, Estiyanti Ekawati, Eko Mursito Budi, Indah Radityo Putri, Komarudin Kudiya · 2023
This study researches the fusion of Indonesian traditional batik art with modernity called the Batik Pendulum. A machine based on Cable-Driven Parallel Robot (CDPR) architecture has been developed to automate the process of Batik Pendulum drawing. The suspended CDPR design uses four cables to provide flexibility and space efficiency. An artist may draw rough pendulum patterns utilizing a tablet as a human interface, which are then coded into coordinate-based code and sent to a microcontroller. The microcontroller drives four stepper motors to synchronize the length of the cables. Therefore, the platform carrying the wax can be moved to create the desired batik patterns. The machine was tested by dripping the paint on the fabric along the test path to validate the accuracy of the patterns. The Mean Absolute Percentage Error test results for the x, y, and radius axes were 1.63%, 1.95%, and 6.33%, while the maximum error values in the movement of the x, y, and radius axes were 8.64, 18.3, and 24.08 mm. This research represents a significant step in preserving Indonesia's cultural heritage while embracing contemporary creativity.