Consistent Solution Strategy for Static Equilibrium Workspace and Trajectory Planning of Under-Constrained Cable-Driven Parallel and Planar Hybrid Robots

This paper presents a consistent solution strategy for static equilibrium workspaces of different types under-constrained robots. Considering the constraint conditions cable force and taking least squares error equation as objective, convex optimization is carried out, working space system obtained. A applied to solve cable-driven parallel planar hybrid The dynamic models are presented introducing parameters that make stable point-to-point movements. Based on this model, traditional polynomial-based trajectory planning algorithm improved by adding unconstrained kinematic law function. constraints dynamics model incorporated into process achieve Finally, robots with three cables robot two taken examples carry out numerical simulation. final results show effective feasible can provide theoretical guidance design subsequent