State-of-the-art on theories and applications of cable-driven parallel robots

Abstract Cable-driven parallel robot (CDPR) is a type of high-performance that integrates cable-driven kinematic chains and mechanism theory. It inherits the high dynamics heavy load capacities significantly improves workspace, cost energy efficiency simultaneously. As result, CDPRs have had irreplaceable roles in industrial technological fields, such as astronomy, aerospace, logistics, simulators, rehabilitation. follow cutting-edge trend rigid-flexible fusion, reflect advanced lightweight design concepts, become frontier topic robotics research. This paper summarizes kernel theories developments CDPRs, covering configuration design, cable-force distribution, workspace stiffness, performance evaluation, optimization, motion control. Kinematic modeling, analysis, solution are illustrated. Stiffness dynamic modeling methods discussed. To further promote development, researchers should strengthen investigation innovation, rapid calculation stiffness control, coupling dynamics. In addition, engineering problems cable materials, reliability unified control framework require attention.