Planar Translational Cable-Direct-Driven Robots: Hardware Implementation

摘要

We present hardware results of a planar, translational cable-direct-driven robot (CDDR). The motivation behind this work was to present kinematics and statics modeling of the CDDR along with the method to maintain positive cable tension and implement them on CDDR hardware for experimental verification. Only translational CDDR is considered in this article; we attempt to keep zero orientation by control. We ignore gravity here because the end-effector is supported on a base plate with negligible friction. Results are presented and analyzed for two linear profiles and one circular profile.