Analysis and multi-objective optimal design of a planar differentially driven cable parallel robot

Abstract In this work, a planar cable parallel robot (CPR) driven by four cable-and-pulley differentials is proposed and analyzed. A new differential designed adding an extra pulley to eliminate the modeling inaccuracies due radius obviate need of solving complex model which considers kinematics. The design parameters CPR are determined through multi-objective optimal for largest total orientation wrench closure workspace (TOWCW) highest global stiffness magnitude index. differentially evaluated comparing various performance indices with fully actuated CPR.