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Kinematic and Dynamic Modeling of Cable-Object Interference and Wrapping in Complex Geometrical-Shaped Cable-Driven Parallel Robots
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  • Dipankar Bhattacharya,
  • T K Cheung,
  • Yaxiang Wang,
  • Darwin Lau
Dipankar Bhattacharya

Corresponding Author:[email protected]

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T K Cheung
Yaxiang Wang
Darwin Lau


Cable-Driven Parallel Robots (CDPRs) utilize cables as actuators to maneuver rigid body links in a parallel mechanism setup. Typically, CDPR kinematic and dynamic models avoid cable-object (cable-link and cable-obstacle) interferences to prevent sudden changes in cable tension that could deviate the end-effector's trajectory. However, allowing these interferences can lead to cable wrapping, where cables wrap around complexshaped surfaces upon contact, enhancing the CDPR's workspace and reducing its footprint. Despite the potential benefits, there currently exists no kinematic and dynamic model that effectively incorporates cable wrapping around such complex-shaped surfaces. This paper introduces a novel numerical-based kinematic and dynamic modeling framework for CDPRs that detects and then manages cable wrapping around multiple links and obstacles with the assumption that the cables remain taut and maintain contact from the initial cable entry point to the final exit point on the surfaces. Through simulations and hardware tests on various shaped links and obstacles, it has been demonstrated that this framework can be efficiently and effectively used for modeling of cable wrapping, significantly enhancing CDPR functionality in complex environments.
29 May 2024Submitted to TechRxiv
04 Jun 2024Published in TechRxiv