Modeling and Wrench Feasible Workspace Analysis of a Cable Suspended Robot for Heavy Loads Handling

Cable suspended robots support a moving platform (MP) in space by several spatially arranged cables with computer-controlled winches. The winches are mounted on base platform (BP). Compared to conventional robots, it is possible to control not only the translational motion of the payload but also its orientation in order to perform, for example, loads handling. By this, cable suspended robots combine the ability of cranes to support heavy payloads in a large workspace with the dexterity of robot manipulators. MP may be equipped with various attachments, including hooks, cameras, electromagnets and robotic grippers. One significant difference between cable suspended robots and classic Stewart robots is that cables only apply tensile force in MP. However, the advantages of this type of actuation are numerous and incontestable. Firstly, cables allow incomparable motion range that is much larger than that of conventional actuators, such as hydraulic cylinders, and take up only a little space when rolled around a spool. Secondly, as the cables are being used only in tension, they are, for a similar task, much thinner and lighter than most conventional mechanical components. Thus, they have negligible inertia and are particularly suitable for systems in which great accelerations are applied. Furthermore, cables are less expensive than hydraulic cylinders and, being much more flexible, they provide a kind of natural protection in the case of interference. Consequently, cable robots are exceptionally well suited for many