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Conceptual design and error analysis of a cable-driven parallel robot

Published online by Cambridge University Press:  19 November 2021

Jiaxuan Li Open the ORCID record for Jiaxuan Li [Opens in a new window] ,
Yongjie Zhao Open the ORCID record for Yongjie Zhao [Opens in a new window] ,
Qingqiong Tang ,
Wei Sun ,
Feifei Yuan  and
Xinjian Lu
Jiaxuan Li
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou City, Guangdong 515063, P. R. China
Yongjie Zhao*
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou City, Guangdong 515063, P. R. China
Qingqiong Tang
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou City, Guangdong 515063, P. R. China
Wei Sun
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou City, Guangdong 515063, P. R. China
Feifei Yuan
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou City, Guangdong 515063, P. R. China
Xinjian Lu
Affiliation:
Guangdong Goldenwork Robot Technology Ltd, Foshan City, Guangdong 528226, P. R. China
*
*Corresponding author. E-mail: [email protected]
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Abstract

This paper develops the conceptual design and error analysis of a cable-driven parallel robot (CDPR). The earlier error analysis of CDPRs generally regarded the cable around the pulley as a center point and neglected the radius of the pulleys. In this paper, the conceptual design of a CDPR with pulleys on its base platform is performed, and an error mapping model considering the influence of radius of the pulleys for the CDPR is established through kinematics analysis and a full matrix complete differential method. Monte Carlo simulation is adopted to deal with the sensitivity analysis, which can directly describe the contribution of each error component to the total orientation error of the CDPR by virtue of the error modeling. The results show that the sensitivity coefficients of pulleys’ geometric errors and geometric errors of the cables are relatively larger, which confirms that the cable length errors and pulleys’ geometric errors should be given higher priority in design and processing.

Keywords

cable-driven parallel robotconceptual designkinematicserror analysissensitivity coefficient
Type
Research Article
Information
Robotica , Volume 40 , Issue 7 , July 2022 , pp. 2152 - 2167
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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