Reconfiguration and Performance Evaluation of TBot Cable-Driven Parallel Robot

Abstract

Cable-driven parallel robots (CDPRs) are easy to implement modular and reconfigurable design, which effectively meets the requirements of flexible production. To clarify the influence of reconfiguration on the performance of a modular designed prototype of the TBot high-speed robot, analysis methods and indexes for the force output and moment constraint performance of CDPRs with co-driven parallel cables are proposed. The influence of reconfiguration on the omnidirectional and directional performance of TBot is discussed, showing the possibility of achieving a more compact layout by reconfiguring the base into slender shapes. The recommended reconfiguration range of TBot is determined to achieve acceptable performance.