Abstract
Overconstrained Cable-Driven Parallel Manipulators Statics Analysis Based on Simplified Static Cable Model
Highlights
The coupling between the moving platform and robot fixed frame of cable-driven parallel manipulators (CDPM) has fundamental difference from the one of conventional parallel robot
Approaches used to solve force distribution problem in fixed-links parallel robot are unapplicable in CDPM
The ideal static state of CDPM is taken into account which leads to the ith cable of CDPM perfectly lies in the plane that defined by the cable frame {A}
Summary
The coupling between the moving platform and robot fixed frame of cable-driven parallel manipulators (CDPM) has fundamental difference from the one of conventional parallel robot. Merlet and Jean-Pierre [5, 6] determined the solution of the forward kinematic problem by using a heuristic interval analysis approach in a static state. This method takes care of the overconstrained system where the number of cables of CDPM greater than its degree of freedom. It produces large and unbalanced forces distribution that is illustrated in their experiment section.
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