Overview of cable parallel robots

Abstract

Unlike rigidly coupled parallel robots, parallel cable robots (PCR) are driven by flexible cables rather than rigid links to control the position and orientation of the working body. PCRs have the advantages of parallel robots over conventional robots, including a higher load-to-weight ratio. PCR have lower inertial characteristics and a higher payload-to-weight ratio, which provides high speed and acceleration of the working body. Due to the flexibility of the ropes, PCRs can be used to solve complex tasks with a large working area of ​​service. This article provides an overview of some types of parallel cable robots developed in the world. An overview of works on the design of the PCR, structure, kinematics and dynamics, control and trajectory planning is shown. The conducted review of cable parallel robots will be useful for students and doctoral students working in the field of research of fundamentally new robots.