Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation

Abstract

This paper presents a method for dynamic adjustment of cable preloads based on the actuation redundancy of cable-driven parallel robots (CDPRs), which allows increasing or decreasing the platform stiffness depending on task requirements. This is achieved by computing preload parameters with an extended nullspace formulation of the kinematics. The method facilitates the operator's ability to specify a defined preload within the operation space. The algorithms are implemented in a real-time environment, allowing for the use of optimization in hybrid position-force control. To validate the effectiveness of this approach, a simulation study is performed, and the obtained results are compared to existing methods. Furthermore, the method is investigated experimentally and compared with the conventional position-controlled operation of a cable robot. The results demonstrate the feasibility of adaptively adjusting cable preloads during platform motion and manipulation of additional objects.

A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue

“…In ref. [16], the authors proposed the design of a planar CDPR with an unlimited rotation by using two mobile platforms. The relative positioning between the two end-effectors creates the needed rotation between them.…”