Abstract
Cable-driven parallel robot (CDPR) has the great potential for various applications in industry and in everyday life. They consist of an end effector and a base, which connected by several cables. CDPRs have a large workspace compared to the workspace of classic parallel robots. CDPR have a simpler structure have good dynamic properties, high carrying capacity, mobility and low cost. The only drawback is that the CDPR cables can only work for retraction and cannot push. This article presents the design of a prototype of a planar CDPR with four cables for practical use in the educational process. This prototype of a planar CDPR is necessary for a better understanding of the design features, structure, kinematics, statics and dynamics of the CDPR by students. The planar CDPR performs two translational motions, due to the controlled 4 cables, and one rotational motion of the end effector. The research of the kinematics and statics of the planar cable-driven parallel robot is carried out. Simulation of the motion of a planar cable-driven parallel robot in the Python programming language has been carried out. A design was developed and a prototype of the planar cable-driven parallel robot was manufactured. Experimental researches of a prototype of the planar cable-driven parallel robot have been carried out. The results of experimental researches have shown that the CDPR works well enough. During the tests of the prototype of the planar cable-driven parallel robot, it was found that the distortions of the trajectory of the end effector depend on the tension of the cables. It is necessary to monitor the tension level using strain gauges. Based on the analysis of the results obtained, the effectiveness of the use of the prototype of a planar CDPR in the educational process of the robotics course has been confirmed
Highlights
Cable-driven parallel robots (CDPR) are a type of parallel robot, in which the link of the working body is supported in parallel by m cables with n drives
The aim of this article is to develop an inexpensive prototype of a planar CDPR for practical use in the educational process
From the analysis of the results of modeling the kinematics and statics of the planar CDPR, it can be seen that the tension in the cables strongly depends on the parameters of the trajectory of the end effector
Summary
Cable-driven parallel robots (CDPR) are a type of parallel robot, in which the link of the working body is supported in parallel by m cables with n drives. The use of CDPR in existing production workshops and closed storage facilities is limited, which is caused by a sharp increase in the tension forces of the cables with an increase in the lifting height of the load. A feature of CDPR is that their flexible links can only work in positive tension, and lose their performance when compressed. This feature severely limits the development and use of CDPR and requires further development of the development of new structural schemes
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