Development of a parametric cable driven planar robot

Abstract

Cable driven robots have been a widely researched topic in the last few years, this is due to the advantages that they present over conventional parallel robots. In this paper, all the areas of robotic design have been studied for a planar cable driven robot, with the objective of making it parametric, meaning that the design process and mathematical models used in this paper could be used to implement the suggested architecture to solve any specific need. Finally, using the parametric design approach, a prototype was developed and built in order to validate the design process, evaluate the robot’s precision, identify future works and improvements and foresee any trouble that was not considered during the design phase.

Keywords

• cable driven parallel robots
• kinematics
• feasible workspace
• control systems
• trajectory tracking