Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot

Abstract

Conventional parallel robots are made of rigid materials for the purpose of fast and accurate localization, exhibiting limited performance in large-scale operations. Inspired by the softness and natural compliance of biological systems, this article proposes a rigid-flexible coupling cable-driven parallel robot. The concept of flexible cable and spring hybrid and working principle are introduced. The kinematics of single module and multiple modules connected in series are analyzed and equations are given, and the Lagrange equation is used to establish dynamic models. Finally, two methods are used to validate the kinematics and dynamics. One is to draw the specific structure with the posture of the end-effector and measure the cable length to compare it with the analytical solution in the kinematic model. The other is to build the structure and joint characteristics in simulink, given the posture of the end-effector and the external force/torque, the cable length and the force applied are compared with those obtained from the dynamic model. The reasonableness of the mechanism and the feasibility of the kinematic and dynamic models are verified.