Design and Performance Analysis of Rigid Flexible Hybrid Cable Driven Parallel Mechanism

Abstract:

A rigid flexible hybrid cable driven parallel mechanism (CDPM) constrained by 3 RPS branches was proposed to overcome the limitation of unidirectional force characteristic in traditional cabledriven parallel mechanisms. In this configuration, the direction of cable branches can be flexibly adjusted according to the desired workspace requirements. The motion principle of the mechanism was firstly described, followed by the design of its three-dimensional structure. Both kinematic and static models were then systematically established. The correctness of the driving cable force was confirmed through comparative analysis between theoretical computations and simulation outcomes. Subsequently, based on the developed mechanical model, the force closure reachable workspace of the mechanism was calculated, and the main structural parameters that affected the workspace were investigated in depth.Furthermore, the Jacobian matrix of the mechanism was derived. And the performance indicators such as singular configuration, dexterity, and stiffness of the mechanism were analyzed by using the determinant of the Jacobian matrix, condition number, and two norm of the stiffness matrix as indicators. The findings established a solid theoretical basis for further development and practical application of the proposed mechanism.