The Static Characteristic Analysis of the Long-Span Cable-Driven Parallel Robot

Cables can only bear tension, not pressure, and the unidirectional characteristic of the cable will affect the motion and stability of the cable-driven parallel robots. It is necessary to analyze the cable tension of the CDPR, and the static characteristic is an important aspect of its optimization design. This chapter introduces the static characteristic of the long-span CDPR and cable tension indices, establishes the error model of the long-span CDPR, analyzes the cable tension characteristics in the terminal error space, and proposes the cable tension indices in the allowable error space. The first-level support system of the FAST is taken as an example to study the global cable tension characteristics and the cable tension characteristics in the allowable error space, which verify the feasibility of the proposed force characteristic indices, and provide a theoretical foundation for the force control of the long-span CDPR.