Cable collision avoidance of a pulley embedded cable-driven parallel robot by kinematic redundancy

摘要

A novel 6 dof 8 cable-driven parallel robot (CDPR) is proposed. The proposed robot is redundantly driven by 8 cables. By the rotational mechanism inside the moving part (MP), the proposed CDPR has two redundancy, kinematic redundancy and actuation redundancy. The kinematic redundancy contributes to avoiding collisions between cables, and the actuation redundancy is used for control the cables' tensions. The proposed CDPR has large workspace by avoiding the cables' collisions, and high precision by keeping the tensions of all cables as positive values. In this paper, control method for avoiding the cables' collisionsby the kinematic redundancy is discussed in detail.