Optimization design and dynamic stability analysis of 3-DOF cable-driven parallel robot with an elastic telescopic rod.

This paper proposes a three degree-of-freedoms (DOFs) cable-driven parallel robot (CDPR), which is actuated by three groups of parallel cables and tensioned by an elastic telescopic rod with a passive spring. Firstly, the architecture of the robot is briefly illustrated with emphasis on the three parallelogram arrangements of the cables and composition of elastic telescopic rod structure. This robot has larger workspace and greater tension than previous under-constrained CDPRs. Secondly, the kinematic and dynamic models of the robot are established. On this basis, the parameters of the spring installed in the telescopic rod are optimized and determined considering both the acceleration and cable force through using the differential evolution (DE) algorithm. Thirdly, dynamic stability analysis of the robot under impulsive disturbances is performed according to the Gauss principle of least constraint (GPLC). The results of a simulation case show that this robot has better dynamic stability in comparison with conventional under-constraint CDPR because of the presence of the elastic telescopic rod. The measurement results in the workspace are obtained through dynamic simulation. Finally, the experiments are performed based on numerical simulation. The feasibility of the CDPR is verified via the experiments and simulations. [ABSTRACT FROM AUTHOR]