Comparisons of a TBot high-speed cable-driven parallel robot with a classical Delta parallel robot

PENG Fazhong; DUAN Jinhao; SHAO Zhufeng; ZHANG Zhaokun; WANG Daoming

doi:10.16511/j.cnki.qhdxxb.2020.26.027

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Journal of Tsinghua University(Science and Technology) ›› 2021, Vol. 61 ›› Issue (3) : 183-192. DOI: 10.16511/j.cnki.qhdxxb.2020.26.027

CABLE-DRIVEN ROBOTS

Comparisons of a TBot high-speed cable-driven parallel robot with a classical Delta parallel robot

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Abstract

Parallel robots provide better stiffness, better dynamics and more compact structures than serial robots, so they are widely used in high-speed sorting. The rigid limbs in previous robot designs are replaced with cables to simplify and lighten cable-drive parallel robots (CDPR). This paper describes a high-speed CDPR tensioned by a rigid rod and a spring. The robot can execute the SCARA movement in the same way as the classical Delta parallel robot. Comparisons of these two robots show the key design issues for industrial applications of these robots. Kinematic and dynamic models are used to analyse the robot performance for typical trajectories. The results show that this cable driven robot has a simple structure, low energy consumption, large reachable workspace, and great development potential.

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high-speed robots / parallel mechanisms / cable-driven / kinematics / dynamics

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PENG Fazhong, DUAN Jinhao, SHAO Zhufeng, ZHANG Zhaokun, WANG Daoming. Comparisons of a TBot high-speed cable-driven parallel robot with a classical Delta parallel robot[J]. Journal of Tsinghua University(Science and Technology). 2021, 61(3): 183-192 https://doi.org/10.16511/j.cnki.qhdxxb.2020.26.027

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