Kinematic Parameter Optimization of a 3-DOF Cable-Driven Parallel Robot with a Kinodynamic Dexterity Index

Abstract

This paper focuses on the optimization of a 3-DOF cable-driven parallel robot (CDPR). In cable robots, the cables can only act in one direction, and this makes it more challenging in motion. Particularly, dynamic performance is required to be investigated in the robot optimization problem. In this regard, kinematic and dynamic dexterity may be considered as the conventional indices. Apart from the unidirectional force constraint, in a CDPR with both rotational and translational DOF, the traditional dexterity does not possess clear physical meaning because of the dimensional inhomogeneity of the components in the Jacobian matrix. In this study, a novel kinodynamic dexterity index is introduced. It is explained based on the infinity-norm, and unilateral dynamic dexterity. Then the evaluation of the optimum performance based on the new kinodynamic index was done and the kinematic parameters are optimized by GA. This measure allows us to apply kinodynamic analysis tools and offer a reference for the CDPR design. Finally, a prototype has been built based on the optimum parameters.