STRUCTURAL ANALYSIS AND CLASSIFICATION OF ROBOTIC SYSTEMS WITH DRIVING MECHANISMS ON THE BASIS OF CABLE ELEMENTS

摘要

The mechanisms of the parallel structure are very diverse. Cable-driven robots that use cables instead of retractable rods to control the position of the output link are of particular interest. They have several advantages, such as large workspace, easy assembly, and disassembly, high mobility, but also there are disadvantages associated with controlling the movement of robot cables. The paper gives examples of some of the first cable robots, their purpose, and application. The article also considers Russian and foreign scientists who deal with these issues and analyzes their work. As a result of the structural analysis, the classification of cable robots is compiled and considered in detail: by the method of placing the reels, by the DOF number of the working body and the number of flexible links, by the application method, by the type of base, by the method of cable fastening. The cable robot structure for the movement of goods is given. However, there are still many areas open to theoretical research. In conclusion, the topics that need more research are considered. The most obvious area of research is control, also optimizing the workspace for different applications of these devices, finding and take advantage of all the benefits offered by cable devices.