Synthesis of Cable Driven Robots' Dynamic Motion with Maximum Load Carrying Capacities: Iterative Linear Programming Approach

In this paper, the general dynamic equation of motion of Cable Driven Robots (CDRs) is obtained from Lagrangian formulation. A computational technique is developed for obtaining an optimal trajectory to maximize the dynamic load carrying capacity for a given point-to-point task. Dynamic equations are organized in a closed form and are formulated in the state space form. In order to nd the Dynamic Load Carrying Capacity (DLCC) of CDRs, joint actuators torque, and robot workspace constraints for obtaining the positive tension in cables are considered. The problem is formulated as a trajectory optimization problem, which fundamentally is a constrained nonlinear optimization problem. Then, the Iterative Linear Programming (ILP) method is used to solve the optimization problem. Finally, a numerical example involving a 6 d.o.f CDR is presented and, due to validation, the results of the ILP method are compared with the optimal control method.