Digital design of a cable-driven parallel robot

Abstract

The paper analyzes various computer-aided design systems. It is shown that the use of CAD / CAM / CAE-system NX allows to reduce the cost of the final product, increase the level of quality, and reduce the time to market. The article discusses the digital design of a cable-driven parallel robot (CDPR) for various applications using the NX CAD / CAM / CAE system. The mechanism is a rigidly fixed frame connected through tensioned cables to a platform. CDPRs have such advantages as a large working area, ease of assembly and disassembly, high mobility, large lifting capacity, and reconfiguration. The kinematic diagram of the device is presented. Based on the terms of reference and sketch documentation, a preliminary composition of the CDPR has been developed. During the design, the Top-Down method was used. The characteristics are analyzed, and the workspace of the mechanism is formed, taking into account the factors of limitation. Shown is a detailed design of the basic structure of a CDPR with an indication of the main operations. An electronic-digital model of the basic structure of a CDPR, which will later be used for kinematic and static calculations, as well as for making an experimental sample, is presented.