Abstract
Cable driven parallel manipulator (CDPM) is a robotic mechanism which utilize multiple actuated cables to manipulate objects. It offers some advantages over the conventional parallel manipulators, such as higher load to weight ratio and larger workspace. These advantages are more evident if one uses composite materials for the cables of CDPM. This study aims at dynamic analysis and trajectory path planning of long-span CDPM by taking into accounts the effects of mass, curvature, flexibility and viscoelastic behavior of its new material cables. The dynamic analysis of the CDPM shows that its end effector vibrates throughout its desired trajectory which leads to an oscillatory pose error. An optimization algorithm is used here for the error suppression of the path planning problem.
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