Wrench-Feasible Workspace Analysis of Mobile Cable-Driven Parallel Robot Considering Both Tipping and Rotation Stability

초록

This letter introduces an advanced workspace algorithm for a Mobile Cable-Driven Parallel Robot (MCDPR) with eight cables and four mobile platforms. The algorithm aims to calculate a more accurate workspace and derive a stable set of cable tensions. Through the Tension Distribution Algorithm (TDA), which considers tipping and rotating conditions, it calculates the minimum set of tensions that satisfy the static equilibrium of the end effector (EE) and the mobile platforms. According to simulation results, the practically usable workspace, when considering both tipping and rotating conditions, is smaller than the workspace obtained solely through tension conditions. This indicates that the workspace satisfying the static equilibrium of the mobile platforms in addition to that of the EE is smaller, suggesting the necessity of a workspace algorithm for MCDPR. Moreover, the non-overlapping areas between the workspaces considering only the tipping condition and only the rotating condition emphasize the need to consider both conditions simultaneously. To validate the theory, a prototype MCDPR consisting of eight cables and four mobile platforms was developed. The workspace verification experiments conducted with the prototype demonstrated a high similarity to the theoretical results, with an IoU exceeding 90%. Furthermore, tipping occurred in the workspace without considering the tipping condition, and rotation occurred in the workspace without considering the rotating condition, confirming consistency with the theoretical predictions of this study.

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