Configuration design and performance analysis of a new type of 3T cable-driven parallel robot based on rigid constraints
ZHU Wei
ZHU Yongjing
ZHOU Xiaoyu
REN Qiuyang
Abstract：[Objective]In response to the lack of effective design analysis methods and insufficient dynamic performance evaluation indicators in the combination scenario of cable-driven parallel robots(CDPRs)and rigid branch chains,an innovative design of CDPR structure was carried out based on constraint-based configuration synthesis method,and corresponding new evaluation indicators were proposed.[Methods]Firstly,by analyzing the driving and constraint conditions of the end-effector through constraint-based configuration synthesis,a novel three-translational high-speed CDPR was designed.Then,the kinematics and static models of the mechanism were derived,and the dexterity metric of the mechanism within its workspace was analyzed.Finally,the dynamic model of the mechanism was established,and its dynamic workspace was computed under specific trajectory planning and high acceleration conditions.The dynamic performance of the mechanism was analyzed using the ratio ζ of the volume of the acceleration interval(ACI)to the volume of the task workspace as indicators.[Results]The test results show that ζ=0.951 indicates good dynamic performance for the mechanism.Additionally,the analysis of the acceleration range provides valuable design reference for trajectory planning.
Keywords：Rigid constraintCable-driven parallel robotConfiguration synthesisWorkspaceDynamic performance
Publication Date：2026-02-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 30-38 )