<p>Cable-Driven Parallel Robots (CDPRs) are a particular class of parallel robots whose moving-platform (MP) is connected to the robot fixed base frame by a number of cables. Hereafter, the connection points between the cables and the base frame will be referred to as exit points. Such a design brings advantages of low inertia, high payload to weight ratio, and a significantly large workspace as compared to their serial and parallel counterparts. Numerous applications of such robots have been demonstrated, for instance, large scale 3D printing, rescue robots, large scale telescopes, in rehabilitation mechanisms&nbsp;and transfer robots for the elderly.</p><p>Kinematic analysis of under-constrained Cable-Driven Parallel Robots has been a topic of interest because of the inherent coupling between the loop-closure and static equilibrium equations. The paper proposes an unsupervised neural network algorithm to perform real-time forward geometrico-static analysis of such robots in a suspended configuration under the action of gravity. The formulation determines a non-linear function approximation to model the problem and proves to be efficient in solving for consecutive and close waypoints in a path. The methodology is applied on a six-degree-of-freedom (6-DOF) spatial under-constrained suspended cable-driven parallel robot. Specific comparison results to show the effectiveness of the proposed method in tracking a given path and degree of constraint satisfaction are presented against the results obtained from least-square non-linear optimization.</p>

Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots: A Neural Network Approach

Paper Proceedings: https://asmedigitalcollection.asme.org/IDETC-CIE/IDETC-CIE2021/volume/85369

ASME 2021 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE2021)

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