Abstract
In this paper, the stability of a cable-driven parallel robot (CDPR) is studied. First, the stiffness model of the robot is established. Second, a stability factor (SF) is proposed to evaluate the stability of the robot (i.e., the ability of the robot to resist interference from external forces). Third, a stability feasible workspace (SFW) based on the stability requirements of the CDPR and an algorithm based on convex set theory to create the SFW are developed. The factors that affect the stability of the CDPR are analysed, and the size of the moving platform is optimised with the maximum SFW. The results show that the value of the SFW can be effectively improved (with an increase of 146.57 %), and thus, the stability of the CDPR can be increased significantly. The research of this paper has a suitable guiding significance for the design and application of CDPR.
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