Cable-driven robots

Abstract

Cable-driven robots (CDRs) are a special class of parallel mechanisms in which the end-effector is actuated by cables, instead of rigid-linked actuators. They are characterized by lightweight structures with low moving inertia and large workspace, due to the location of the cable winching actuators at the fixed base of the structure, and thereby reducing the mass and inertia of the moving platform. CDRs also possess an intrinsically safe feature due to the cables’ flexibility, which allows CDRs to provide safe manipulation in close proximity to their human counterparts. This chapter will highlight the various research endeavors in the performance analysis of CDRs such as force-closure analysis, stiffness analysis, workspace analysis, and cable tension planning. Several case studies will also be presented to serve as illustrations on the application of the proposed performance analysis tools.