trajectory path planning of cable driven parallel manipulators, considering masses and flexibility of the cables

cable driven parallel manipulator (cdpm) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. it is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manipulating a long-span cdpm. these terms complicate governing equation of motion in a way that special tactic are applied for simulation and solving this problem. flexibility and mass of cablesimpose vibration and error in path trajectory planning.effect of varying stiffness in precise performance of cdpm is surveyed.the cables are modelled, in adams software to illustrate the dynamical behaviours of the manipulator for comparison with the simulated results. moreover, an algorithm is developed to study the effects of velocity and acceleration of the end-effector on the dynamics of cdpms. moreover it is shown that the evolutionary computing algorithms are so effective in solving complicated nonlinear dynamic path trajectory planning. simulations for different trajectories of two cdpms are included to demonstrate the efficiency of the proposed algorithm.