A Review on Design, Modeling and Control Technology of Cable-Driven Parallel Robots

Abstract

In view of the limitations of traditional rigid joint robots, cable-driven parallel robots (CDPRs) have shown significant advantages such as wide working space and high payload-to-weight ratio by replacing rigid connectors with flexible cables. Therefore, CDPRs have received widespread attention in the academic community in recent years and been applied to many fields. This review systematically reviews and categorizes the research progress in related fields in the past decade, focusing on mechanical structure design, mainstream mathematical models, and typical planning and control algorithms. In terms of mechanical structure, the advantages and disadvantages of three types of mainstream configurations and their application scenarios are summarized in detail. As for mathematical models, the dynamic modeling methods and various disturbance compensation models are mainly sorted out, and their action mechanisms and inherent limitations are explained. In terms of planning and control, four main research directions are discussed in detail, and their core ideas, evolution context, and development prospects are deeply analyzed. Although significant results have been achieved in the field of CDPR research, it is still necessary to continue to explore the direction of configuration diversification and intelligent autonomy in the future.