Design and analysis of the cable-driven parallel robot for cleaning exterior wall of buildings

With the development of cities, more high-rise buildings continue to emerge. Regular cleaning building exterior walls is necessary, which mainly relies on manual work now. In this article, planar four-cable-driven parallel robot (CDPR) adopted carry out external buildings. Firstly, kinematic model and static are established. The influence maximum cable force workspace analyzed, position connection points end effector discussed. Then, stiffness CDPR reveals that a large difference width-to-height ratio between base improves condition number average CDPR. Considering size module, horizontal cross layout determined. range discussed considering variable base. Finally, prototype cable-driven designed accordingly.