Cable-driven parallel robot modelling considering pulley kinematics and cable elasticity

Cable Driven Parallel Robots (CDPRs) are parallel robots, in which the limbs replaced by cables that guided pulleys. In many papers, pulleys considered as fixed points of passage and cable elasticity is neglected. Those approximations simplify robot modelling, but lead to some Moving-Platform (MP) pose errors. This paper deals with modelling suspended three degree-of-freedom CDPRs considering geometry kinematics well elasticity. Furthermore, a novel pulley architecture an universal joint designed increase accuracy limit bending moment Then sensitivity analysis conducted on these newly established models allows precisely quantify effect interactions design elasto-geometric parameters MP pose. It turns out interaction between geometrical significant should be static models. Finally, it shown CDPR equipped helps reducing overall error.