Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot

This paper investigates the force sensitivity of 6-DOF cable-driven parallel robots (CDPRs) in order to propose a better measurement device. Kinematics and dynamics for CDPR n-DOF are deduced formulated, algorithms calculating cable tension developed. Then, by defining geometrical parameters related dimensions configurations CDPRs, optimal methods determining with respect structure matrix twist vector CDPRs two different moving platforms (i.e. cubic-shaped, flat platform) proposed. By using numerical examples integrated external twists obtained from wind tunnel tests, simulations analysis type carried out. The simulation results help identify that can be used design 6-DOF-CDPR-based measuring devices high sensitivity. Experiment validation is also conducted verify method proposed this paper.