Experimental determination of trajectory of motion and tensions of cable-suspended parallel robot with point-mass end-effector

摘要

This paper presents an experimental research of a cable-suspended parallel robot with point-mass end-effector for practical application in the educational process. Due to the fact that the cables in the cable-suspended parallel robot with point-mass end-effector are located above the end-effector, it has great advantages compared to other cable- driven parallel robots. Here, the possibility of interaction of cables with each other and the environment is excluded. Such a structure of the cable-suspended parallel robot with point-mass end-effector allows for uniform distribution of the load along the cables and thereby increases the lifting capacity. The main disadvantage of the cable-suspended parallel robot with point-mass end-effector is its low rigidity. Low rigidity of the cable-suspended parallel robot with point-mass end-effector, when applying a load, leads to its significant oscillations of the end-effector, which reduces the accuracy of trajectory reproduction. The conducted experimental determinations of the real trajectory of the cable-suspended parallel robot with point-mass end-effector and the level of tension of the cables allow us to evaluate its operation in real operating conditions. It has been established that for normal operation of the cable-suspended parallel robot with point-mass end-effector it is necessary to control the real trajectory of the robot and the level of tension of the cables. The experimental methods of research of the cable-suspended parallel robot with point-mass end-effector developed in the work are simple and understandable for their practical application in the educational process.