Workspace Analysis of Cable-Driven Parallel Robots for Improved Productivity in 3D Printing

The use of cable-driven parallel robots (CDPRs) for 3D printing is on the rise because of the various advantages associated with CDPRs such as lower inertial forces, larger workspace, ease of assembly/disassembly, and higher payload-to-weight ratio. These lower inertial forces in CDPRs can be used to increase the acceleration of the end-effector (EE) and hence the productivity of 3D printers. However, CDPRs can only work when the cables are in tension. Using simplified dynamic models, researchers have shown that the feasible workspace of the CDPR depends on the position of the EE and its acceleration. This paper analyzes the workspace of a CDPR with regard to productivity for 3D printing applications. The EE acceleration levels are varied for various configurations of the CDPR, and the feasible workspace is compared. It is observed that certain configurations result in a more consistent workspace with respect to acceleration as compared to other configurations.