Comprehensive Compensation Method for Motion Trajectory Error of End-Effector of Cable-Driven Parallel Mechanism

The accuracy of the end-effector motion trajectory is a critical performance indicator for cable-driven parallel mechanisms. This study aims to address problem error during in mechanism. It proposes comprehensive compensation method based on simultaneous application improved sparrow search algorithm and cable length space algorithm, leveraging kinematic analysis. To compensate caused by geometric parameter error, establishes model mechanism using vector method. creates position differential theory, analyzes impact constructs identification matrix, uses an interpolation point. For non-geometric intrinsic correlation between adjacent variation similarity theory. then compensates point enhance end-effector. experimentally verifies proposed 4-cable-driven 2-DOF mechanism, which reduces 75%.