Modeling and Experimental Validation of a 3 DOF Cable-Driven Parallel Robot
摘要
Cable-driven parallel robots exhibit intriguing characteristics and have found widespread application across diverse industrial and medical sectors that demand exceptional sensitivity. This study introduces a (3 DOF) cable-driven parallel robot, for which we have developed both kinematic and dynamic models, in addition to constructing a prototype. Various trajectories were systematically configured and rigorously validated, underscoring the robustness of the proposed model. Subsequently, a thorough exploration of the robot’s dynamic model was undertaken to delve into its dynamics. Experimental validation of the robot was conducted, accompanied by an error analysis.