Parallel robots with cables instead of rigid linkages are known as cable-based parallel robots. The robots outperform their rigid-link counterparts in a number of ways. However, using cables with unilateral driving qualities creates several additional issues, one of the most important of which is the robot’s stability. This study looks at the minimum cable tension distributions in the workspace for cable-based parallel robots to see if there’s a link between stability and minimum cable tensions. The wrench matrix is used to generate a cable-based parallel robot’s kinematic model. The least cable tension at each place is then found using convex optimization theory and a non-iterative polynomial-based optimization method with the appropriate optimum objective function. In addition, three The distributions of minimal cable tensions in a certain workspace region are depicted using performance indices. The three performance metrics may be used to evaluate the critical stability of cable-based parallel robots. The Preset Minimum Cable Tension Workspace (SMCTW) is a novel workspace in which all minimum tensions surpass a certain level, satisfying the required stability standards. Finally, a camera robot parallel powered by four cables for aerial panoramic photography is chosen to illustrate the distributions of the minimum cable tensions in the workspace and the link between the three performance indices and the stability.

Author(S) Details

Peng Liu
School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China and Key Laboratory of Ministry of Education for Electronic Equipment Structure Design, Xidian University, Xi’an 710000, China.

Yuanying Qiu
Key Laboratory of Ministry of Education for Electronic Equipment Structure Design, Xidian University, Xi’an 710000, China.

Xuhui Zhang
School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China.

Xiangang Cao
School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China.

Xinzhou Qiao
School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China.

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