Workspace Analysis and Optimal Design of Cable-Driven Parallel Robots via Auxiliary Counterbalances
This work aims to expand the operational workspace for designers and users of Cable-Driven Parallel Robots, particularly in applications where tension limits restrict reach.
This paper addresses the limitation of workspace in Cable-Driven Parallel Robots (CDPRs) due to cable tension constraints by introducing auxiliary counterbalances. The authors provide kinematic, dynamic, and parameter optimization methods to maximize the reachable workspace, demonstrating effectiveness through numerical case studies.
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.