Force Distribution with Pose-dependent Force Boundaries for Redundant Actuated Cable-Driven Parallel Robots

International audienceThis paper addresses the force distribution of redundant actuated cable-driven parallel robots (CDPRs). A new and efficient method is proposed on the determination of the lower-boundary of cable forces, including the pose-dependent lower-boundaries. In addition, the effect of cable sag is considered in the calculation of the force distribution to improve the computational accuracy. Simulations are made on a 6-DOF CDPR driven by 8 cables to demonstrate the validity of the proposed method. Results indicate that the pose-dependent lower-boundary method is more efficient than the fixed lower-boundary method in terms of minimizing the motor size and reducing energy consumption