Abstract
The cable-driven parallel robot (CDPR) uses flexible cables instead of rigid links, and maintains several desirable characteristics, including large workspace, high speed motion, and large payload to weight ratio. Dynamic trajectory planning enables the CDPR to achieve a wide range of motion under small support conditions. In this paper, the stability of dynamic trajectories of cable-suspended parallel robot (CSPR) is investigated. According to the Weak Principle of Equivalence, a stability evaluation index is proposed with the geometric analysis, and is used to carry out the planning of the dynamic trajectories. Taking the planar two degrees of freedom (DoFs) CSPR as object, the simulation is implemented. Results reveal that the cable tension of the dynamic trajectory established with proposed planning method is more uniform, reduces the fluctuation of the cable tension, and improves the stability of the movement. Planning methods of the dynamic trajectory established in this paper provides a new solution for studying the stability of trajectory.
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