Workspace Analysis and Dynamic Modeling of 6-DoF Multi-Pattern Cable-Driven Hybrid Mobile Robot

Abstract

A cable-driven hybrid mobile robot is a kind of robot consisting of two modules connected in series, which uses multiple parallel cables to drive the moving platforms. Cable-driven robots benefit from a large workspace, low inertia, excellent dynamic performance due to the lightweight and high extensibility of cables, making them ideal for a wide range of applications, such as sports cameras, large radio telescopes, and planetary exploration. Considering the fundamental dynamic constraint imposed by the unilateral constraint of cables, the workspace and dynamic modeling for cable-driven robots require specialized study. In this paper, a novel cable-driven hybrid robot, which has two motion patterns, is designed, and an arc intersection method for analyzing workspace is applied to solve the robot workspace of two motion patterns. Based on the workspace analysis, a dynamic model for the cable-driven hybrid robot is established, laying the foundation for subsequent trajectory planning. Simulation results in MATLAB R2021a demonstrate that the cable-driven hybrid robot has a large workspace in both motion patterns and is capable of meeting various motion requirements, indicating promising application potential.