Abstract
Cable-driven parallel robots (CDPRs) have several advantages and have been widely used in many industrial fields, especially industrial applications that require high dynamics, high payload capacity, and a large workspace. In this study, a design model for a CDPR system was proposed, and kinematic and dynamic modeling of the system was performed. Experiments were carried out to identify the dynamic modulus of elastic cables based on the dynamic mechanical analysis (DMA) method. A modified kinematic equation considering cable nonlinear tension was developed to determine the optimal cable tension at each position of the end-effector, and the wrench-feasible workspace was analyzed at various motion accelerations. The simulation results show that the proposed CDPR system obtains a large workspace, and the overall workspace is satisfactory and unrestricted for moving ranges in directions limited by the X-axis and the Y-axis from −0.3 to 0.3 m and by the Z-axis from 0.1 to 0.7 m. The overall workspace was found to depend on the condition of acceleration as well as the moving ranges limited by the end-effector. With an increase in external acceleration, the cable tension distribution increased and reached a maximum in the case of 100 m/s2.
Highlights
Cable-driven parallel robots (CDPRs) use flexible cables to control an end effector by winding and unwinding cables instead of using the rigid links of common parallel robots
In a real CDPR system, the predicted cable tensions cannot improve the features of the robot due to the nonlinear characteristics of the cable as well as the nonlinear tension that occurs during motion
The high acceleration generated on the wrench-feasible workspace affected the CDPR system significantly
Summary
Cable-driven parallel robots (CDPRs) use flexible cables to control an end effector by winding and unwinding cables instead of using the rigid links of common parallel robots. In a real CDPR system, the predicted cable tensions cannot improve the features of the robot due to the nonlinear characteristics of the cable as well as the nonlinear tension that occurs during motion These characteristics affect the dynamic stability of CDPRs. In addition, the high acceleration generated on the wrench-feasible workspace affected the CDPR system significantly. 2. A methodology for determining the wrench-feasible workspace (WFW) of a cabledriven parallel robot (CDPR) is proposed based on a nonlinear cable tension model. 3. The dynamic elastic modulus of the polymer cable for the nonlinear tension model is obtained based on the dynamic mechanical analysis (DMA) method by changing the frequencies of the applied force on the cable and is presented for the first time in this article. The simulation results are discussed, with the main contributions presented in the Conclusions section
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