Collision and Tension Analysis of Cable-Driven Parallel Robot for Positioning and Orientation

Abstract

In recent years cable-driven parallel robots have been utilized in industry to perform automation tasks over large workspaces. In addition, this type of robots are characterized by large load handling capacities thus they have become a highly valued tool in industry. The present article shows the simulation results which determines the feasibility of positioning and orienting of a robot actuated by eight wires in a suspended structure in a determined point in space, analyzing the behavior of tension of the cables and the distance between elements that can collide. The process comprises the following steps: establishment of a target position and orientation for the final effector, generation of a rectilinear path that progresses through intervals until reaching the desired position and orientation, calculation of cable lengths for each interval, determination of collisions between cables, and between cables with end-effector segments by calculating their distances. Additionally, a cartesian trajectory was generated in order to compare different characteristics between trajectories, cable tensions and possible collisions. Finally, feasibility of cable tensions is evaluated, considering that cables bends without resistance on compressive efforts. The developed program allows to determine the evolution of the trajectory, possible crosses between cables, and the feasibility of the selected position and orientation for the end effector.