Modeling and analysis of rigid-flexible coupling dynamics of a cable-driven manipulator

Cable-driven manipulators find applications in medical care, housekeeping services, and various other scenarios. However, the flexible joints of cable-driven manipulators exhibit rigid-flexible coupling characteristics, posing challenges for their modeling and accurate control. In this paper, a cable-driven serial-parallel manipulator is analyzed, and the rigidflexible coupling characteristics and dynamic modeling of its flexible joints are studied. Based on the coupling problem between joint flexibility deformation and end motion of the manipulator, a rigid-flexible coupling dynamics model was established. Through derivation of the coupling matrix, the coupling factor was defined to characterize the influence of flexible joint deformation on end motion of the manipulator. Finally, the dynamics coupling factor was simulated, and the influence of the joint cable-wheel reduction ratio and the end load on rigid-flexible characteristics of the manipulator was revealed, which lays a theoretical basis for the accurate control of cable-driven manipulators.