Dynamic Model of a Novel Planar Cable Driven Parallel Robot with a Single Cable Loop

Cable-Driven Parallel Robots (CDPRs) are a special kind of parallel manipulator that uses cables to control the position and orientation mobile platform or end effector. The use instead rigid links offers some advantages over their conventional counterparts. As can only pull but not push, number (n) required command end-effector is always n+1. This configuration known as fully-constrained, it most extended for CDPRs. Although CDPRs have many advantages, such ability cover large working areas, one main problems area (workspace) limited in comparison its frame (planar case) volume (spatial case), due minimum maximum allowed tensions. Depending on these tension values, workspace notoriously decrease. In order tackle this problem, lots works focus solving kinematics dynamics cable sagging, i.e., they take into account sagging when modelling robot kinematic include poses inside usable workspace. Taking phenomena increases mathematical complexity much more complex techniques required. On other hand, lack problem be tackled by adding active passive elements design. sense, paper proposes two mechanical modifications: add carriages single loop orientation. work presents kinematic, static, dynamic models novel design shows gain planar case while taking different parameters robot.