An approach on stability analysis of cable-driven parallel robots considering cable mass

This paper presents an approach on stability analysis of cable-driven parallel robots (CDPRs) considering cable mass based tensions and stiffness matrix condition numbers. A model is introduced the effect mass. established model. Then, numbers are presented. Furthermore, CDPRs discussed. Numerical simulations show that better in center at top whole workspace than other places, which agrees well with theoretical predictions. The mixed evaluation indices neglecting are, respectively, compared. results not negligible when evaluating accurately a robot.