Direct dynamics of 2D cable-driven parallel robots including cables mass effect and its influence in the control performance

Abstract. Cable-driven parallel robots are a type of manipulators where rigid links replaced by actuated cables. Although in many cases dynamic models that neglect the cables mass and elasticity employed to simulate robot behavior test control approach be used, there several situations which their effect cannot disregarded, especially when large span cable density generates important sagging. This work proposes model for planar cable-driven with 3 degrees-of-freedom considering elasticity. Furthermore, using approaches based on massless inelastic non-negligible is finally assessed.