Abstract
To expand the workspace of Cable-Driven Parallel Robots (CDPRs), researchers have proposed to allow cable wrapping on the base, the end-effector, or obstacles in recent years. However, the statics of a cable wrapping on a surface and necessary conditions for paths of a cable wrapping on a surface have not been fully uncovered in studies of CDPRs. To this end, this paper analyses the statics of a cable wrapping on a surface and the conditions of a cable wrapping on a frictionless surface in equilibrium. Based on the assumption that a cable is in equilibrium in statics, the necessary conditions of a path of a cable wrapping on a frictionless surface are proposed. By solving the necessary conditions, the kinematics of a CDPR with cables wrapping on surfaces can be determined. A case study of a CDPR with cables warping on cylinders is provided to demonstrate the kinematics of the CDPR.
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