Minimum Cable Tensions and Tension Sensitivity for Long-Span Cable-Driven Camera Robots with Applications to Stability Analysis

Employing cables with strong flexibility and unidirectional restraints to operate a camera platform leads stability issues for robot long-span considering the cable mass. Cable tensions, which are constraints platform, have critical influence on of robot. Consequently, this paper focuses two special problems minimum tension distributions (MCTDs) within workspace sensitivity analysis (CTSA) by taking mass into account, can be used investigate Firstly, three distribution indices (MCTDIs) were proposed An important matter is that MCTDIs, represent weakest employed investigating In addition, specified (SMCTW) introduced, where when located at arbitrary position meets given requirement. Secondly, CTSA model index (CTSAI) grey relational method, in mechanism degree positions relative tensions was investigated detail. Lastly, reasonableness presented MCTDIs method applications supported performing some simulation studies.