Experimental Research of a Cable-Suspended Parallel Robot with Point-Mass End-Effector
摘要
In this work, experimental researches of the Cable-Suspended Parallel Robot (CSPR) with point-mass End-Effector (EE) were carried out to determine the tension in the cables. A device for measuring cable tension, consisting of three pulleys and a force sensor has been developed. A device for measuring cable tension is easily mounted on the frame for various types of CSPR with point-mass EE and connected to the ZET 017 measurement module. Experimental researches were carried out to determine the tension in the cables of a CSPR with point-mass EE, for various trajectories of movement EE. Information about the actual tensions in the cables makes it possible to assess the performance of the CSPR with point-mass EE. For normal operation of the CSPR with point-mass EE, constant monitoring of the tension of its cables is necessary.