Comparison Between Two Methods of Cables Tensions Optimization of a Cable Driven Parallel Robot

Abstract

This manuscript presents a three-DOF four cable driven parallel robot with four cables (CDPR). The robot structure consists of a parallel redundant manipulator actuated by a set of cables. The presented robot presents one degree of actuation redundancy. In this document, the kinematic analysis of such manipulator is illustrated in first. Then, the dynamic model is developed in order to calculate the tensions in robot cables. These tensions must be positive. However, a comparison between two methods of cables tensions optimization is presented and developed in detail. The first method is based on the minimizing the Euclidean norm of the cable tensions while the second one consists in the calculating of the pseudo inverse of the Jacobian matrix. Finally, an example of trajectory is given in order to illustrate a comparison between the two presented methods.