Strain Analysis of Metal Support Towers of a Cable-Driven Parallel Robot.

Metal towers as supports for a cable-driven parallel robot have been considered in this paper. Their loads and strains have been modeled. The most dangerous combination of loads affecting the tower during the entire operation period has been calculated. The major design principles of a facility used for this purpose have been stated based on an analysis of the calculation results. The recommendations for further study and optimization of the design solutions have been given. This study has made it possible to assess movements of the support elements of a cable-driven robot caused by strains of the towers under load, which should be taken into account in the control system of the cable-driven robot when generating the program motion laws. [ABSTRACT FROM AUTHOR]