Development of a planar cable parallel robot for practical application in the educational process

Cable-driven parallel robot (CDPR) has the great potential for various applications in industry and everyday life. They consist of an end effector a base, which connected by several cables. CDPRs have large workspace compared to classic robots. CDPR simpler structure good dynamic properties, high carrying capacity, mobility low cost. The only drawback is that cables can work retraction cannot push. This article presents design prototype planar with four practical use educational process. necessary better understanding features, structure, kinematics, statics dynamics students. performs two translational motions, due controlled 4 cables, one rotational motion effector. research kinematics cable-driven carried out. Simulation Python programming language been A was developed manufactured. Experimental researches results experimental shown works well enough. During tests robot, it found distortions trajectory depend on tension It monitor level using strain gauges. Based analysis obtained, effectiveness process robotics course confirmed