Workspace Analysis and Optimal Design of Cable-Driven Parallel Robots via Auxiliary Counterbalances

TL;DR

A auxiliary counterbalances is introduced to tackle the problem of cable-driven parallel robots limited in reaching their maximum workspace duo to constraints such as the maximum allowable tensions of cables and kinematics, dynamics, and parameters optimization formulas and algorithm are provided.

Abstract

Cable-driven parallel robots (CDPRs) are widely investigated and applied in the worldwide; however, traditional configurations make them to be limited in reaching their maximum workspace duo to constraints such as the maximum allowable tensions of cables. In this paper, we introduce auxiliary counterbalances to tackle this problem and focus on workspace analysis and optimal design of CDPRs with such systems. Besides, kinematics, dynamics, and parameters optimization formulas and algorithm are provided to maximize the reachable workspace of CDPRs. Case studies for different configurations are presented and discussed. Numerical results suggest the effectiveness of the aforementioned approaches, and the obtained parameters can also be applied for actual CDPRs design.

Figures (8)

• Figure 1: A general CDPR with a genetic auxiliary counterbalance system.
• Figure 2: Possible robot configurations and coordinates assignment. (a) Mounting a single pulley on the top side of the platform. (b) Mounting two pulleys on the top side of the platform. (c) Mounting two pulleys on the bottom side of the platform. (d) Mounting two pulleys on the top side of the platform and one fixed pulley on the static frame.
• Figure 3: Area of reachable workspace versus $w_p$.
• Figure 4: Area of reachable workspace versus $T_5$.
• Figure 5: Desired workspace versus reachable workspace.