Design and analysis of a circular-orbit underconstrained cable parallel robot

Abstract

In this paper a circular-orbit underconstrained cable parallel robot is presented. A prototype has been built, and finite element analysis is conducted to check the deformation, stress and modes. The basic formulation, including the inverse kinematics of the circular-orbit underconstrained cable parallel robot and dynamics of the load are derived on the basis of geometric methodology and D’Alembert’s principle. Numerical simulation are conducted to verify the kinematic and dynamics. The proposed configuration can be used as a prototype for other three-cable underconstrained systems for precise lifting and assembling large and heavy components in engineering.