Paper Title
Design and Prototyping of Cable-Driven Robot Size 20*60 M for Fishing Farm

Abstract
This paper presents the design and control for a cable-driven robotic size 20*60 m.with four cables.The cable-driven robot isa type of parallel manipulatorin which flexible cables are used as actuators.The end of each cable is reeled around a rotor twisted by a motor, and the other end is connected to the end-effector.The cable-driven parallelrobot (CDPR) manipulatorproduces a planar motion, including two translational and one rotationaldegree of freedom. The end-effector of CDPR motion, controller design, andthe kinematic structure is analyzed, and the inverse kinematicsis formulated in the closed-form solution.The resultsshowed that theeach cable must have a positive tension and the torque of winch must be greater than the maximum tension of cable. Keywords - Inverse Kinematics, Modbus RS485 Protocol, Cable-driven Robot, Processing Software.