Abstract
Abstract This paper presents a kineto-static model for cable-driven parallel robots (CDPRs) that addresses the challenges of designing and optimizing CDPRs for cleaning and manufacturing tasks on curved surfaces. CDPRs are known for their lightweight design and scalable workspace, making them a promising solution for large part cleaning and manufacturing. However, the curvature of the cables introduces complexities in the moving platform configuration that must be addressed. The proposed model provides a solution for finding the moving platform position with a given set of cable lengths, as well as determining the cable tension force direction and magnitude for a 2-anchor-point cylindrical CDPR. Furthermore, an optimization method for multiple anchor cylindrical CDPRs is formulated using planar force balance equations and linear programming. The method defines corresponding anchor points that counter gravity, allowing for non-ordinary-anchor-location-based reconfiguration that changes the maximum cable tension requirements and surface coverage. The proposed model is demonstrated through simulations and calculations, which highlight its potential in addressing the challenges of designing and optimizing CDPRs for cleaning and manufacturing on curved surfaces. The research provides valuable insights into the potential of CDPRs in these applications and presents a tool for optimizing the design of CDPRs with multiple anchor points.
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