Force Distribution With Pose Dependent Force Boundaries for Redundantly Actuated Cable Driven Parallel Robots

Abstract

This paper addresses the force distribution of redundantly actuated cabledriven parallel robots (CDPRs). A new and efficient method is proposed for the determination of the lowerboundary of cable forces, including the posedependent lowerboundaries. In addition, the effect of cable sag is considered in the calculation of the force distribution to improve the computational accuracy. Simulations are made on a 6DOF CDPR driven by eight cables to demonstrate the validity of the proposed method. Results indicate that the posedependent lowerboundary method is more efficient than the fixed lowerboundary method in terms of minimizing the motor size and reducing energy consumption.