A Review on Cable-driven Parallel Robots

Chinese Journal of Mechanical Engineering December 2018, 31:66 | Cite as A Review on Cable-driven Parallel Robots AuthorsAuthors and affiliations Sen QianBin ZiWei-Wei ShangQing-Song Xu Open Access Review First Online: 17 August 2018 Received: 23 March 2018 Accepted: 06 August 2018 Abstract Cable-driven parallel robots (CDPRs) are categorized as a type of parallel manipulators. In CDPRs, flexible cables are used to take the place of rigid links. The particular property of cables provides CDPRs several advantages, including larger workspaces, higher payload-to-weight ratio and lower manufacturing costs rather than rigid-link robots. In this paper, the history of the development of CDPRs is introduced and several successful latest application cases of CDPRs are presented. The theory development of CDPRs is introduced focusing on design, performance analysis and control theory. Research on CDPRs gains wide attention and is highly motivated by the modern engineering demand for large load capacity and workspace. A number of exciting advances in CDPRs are summarized in this paper since it is proposed in the 1980s, which points to a fruitful future both in theory and application. In order to meet the increasing requirements of robot in different areas, future steps foresee more in-depth research and extension applications of CDPRs including intelligent control, composite materials, integrated and reconfigurable design. KeywordsCable-driven parallel robots Design and modelling Control and planning Performance and optimization  1 Introduction Cable-driven parallel robots (CDPRs) are known as a type of parallel robots. In CDPRs the end-effector (EE) is suspended by several flexible cables, taking the place of rigid links in traditional rigid-link parallel robots. Compared with traditional rigid-link parallel robots, CDPRs have much smaller inertia and higher payload to weight ratio, which provides high speed and acceleration of the EE [1, 2, 3, 4]. In addition, due to the extension range and flexibility of cables, CDPRs can be applied in challenging tasks that require motivation with large reachable workspace and better flexibility as well [5, 6, 7, 8]. Research on CDPRs originates from America in 1984. A cable-controlled parallel manipulator is designed for underwater operation. In 1989, the RoboCrane project is started in America by the National Institute of Standards and Technology (NIST), which stand out for simplicity and extensive use especially in processing machinery, port cargo handling, bridge construction, welding and other areas, as shown in Figure 1 [9, 10]. Open image in new window Figure 1 NIST RoboCrane model In the late 1980s, August Design Company developed a video tape recorder system named SkyCam with 4 cables and up to 44.8 km/h maximum speed, which is widely used for live broadcast in large scale, especial for high-speed tracking photography, as shown in Figure 2 [11]. Duan et al. [12] from Xidian University proposed a novel feed cable-driven structure for feed support system in 500-m aperture spherical radio telescope (FAST) in 1999 in China, in order to move the feed cabin of large spherical radio telescope, as shown in Figure 3. Integrated mechanical and electronic designing, as well as cooperative control technology make FAST one of the most successful applications of CDPRs, which is located in the southwest of China [13]. Open image in new window Figure 2 Cable-driven SkyCam video tape recorder system Open image in new window Figure 3 Large spherical radio telescope In the last decades, research on CDPRs gains wide attention and is highly motivated by the modern engineering demand for large load capacity and workspace. CDPRs have been increasingly and widely applied in relevant tasks, such as construction, rescue systems, rehabilitation, and even three-dimensional print. For instance, a cooperative CDPR consists of multiple mobile cranes is designed, as shown in Figure 4. The cooperation problems is considered and analyzed, including the localization of multiple mobile cranes, obstacle avoidance and adaptive orientation control of the payload [14]. Seriani et al. [15] proposed a modular CDPR deployed by a rover shown in Figure 5. Due to the large work scale of CDPRs, the mentioned modular CDPR can be applied in inspection tasks in field and rugged environment. Open image in new window Figure 4 CDPR of cooperative multiple cranes Open image in new window Figure 5 Modular CDPR for solar collection in field and rugged environment Varela et al. [16] presented an experimental characterization of the biomechanics of human gait by means of a CDPR named Cassino tracking system, which is a low-cost operable system used as an assessing device for diagnosis and rehabilitation procedures in certain clinical application, as shown in Figure 6. Open image in new window Figure 6 A treadmill gait assessment of Cassino tracking system (...truncated)