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<p>Cable-driven parallel robots (CDPRs) offer advantages such as large workspaces, high-speed motion, and reconfigurability. However, their motion capabilities are constrained, particularly in achieving purely rotational movements (e.g., 1R, 2R), due to parasitic motion, which usually arises in lower degree-of-freedom (DOF) configurations and compromises motion accuracy and control stability. The paper first illustrates the parasitic motion in CDPR through schematic and mathematical model, then a novel layout of driving cables is proposed which realizes purely rotational motion for CDPRs with no parasitic motion. Based on the new design, the realizability of two distinct 1R1T motion modes are proved theoretically and their difference is discussed. A simulation is conducted finally to validate the performance. The proposed work expands the motion modes for CDPRs and provides a basis for further exploration on the elimination of parasitic motion and precision motion control for CDPRs with lower DOF.</p>

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Novel motion modes for cable-driven parallel robot

  • 期刊论文

  • 发表日期：

    2025年8月2日

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  • Ziyi Liu,
  • Haining Sun,
  • Xiaoqiang Tang

摘要

Cable-driven parallel robots (CDPRs) offer advantages such as large workspaces, high-speed motion, and reconfigurability. However, their motion capabilities are constrained, particularly in achieving purely rotational movements (e.g., 1R, 2R), due to parasitic motion, which usually arises in lower degree-of-freedom (DOF) configurations and compromises motion accuracy and control stability. The paper first illustrates the parasitic motion in CDPR through schematic and mathematical model, then a novel layout of driving cables is proposed which realizes purely rotational motion for CDPRs with no parasitic motion. Based on the new design, the realizability of two distinct 1R1T motion modes are proved theoretically and their difference is discussed. A simulation is conducted finally to validate the performance. The proposed work expands the motion modes for CDPRs and provides a basis for further exploration on the elimination of parasitic motion and precision motion control for CDPRs with lower DOF.