Dynamic Modeling, Workspace Analysis and Multi-Objective Structural Optimization of the Large-Span High-Speed Cable-Driven Parallel Camera Robot

Since most of the cable-driven parallel manipulators (CDPMs) are small in dimension or low speed, self-weight inertia cable is neglected when dealing with problems kinematics, dynamics and workspace. The treated as a massless straight line, not discussed. However, camera robot large-span high-speed CDPM. Thus, cannot be negligible. curved due to modeled catenary accurately account for its sagging effect. Moreover, dynamic model derived by decomposing motion into an in-plane out-plane motion, based on which iterative-based tension distribution algorithm workspace generation presented. An optimization presented simultaneously improve volume, anti-wind disturbance ability impulse tensions pan–tilt device system (CPTDS) selecting proper optimal variables under linear nonlinear constraints. improved genetic (GA) proposed, simulation results demonstrate that GA offers stronger global compared standard (SGA). ideal-point method employed avoid subjective influence designer performing multi-objective optimization, remarkable improvement performance obtained through optimization. Furthermore, characteristics objects studied, some valuable conclusions summarized, will provide references designing CDPMs.