Design of a Planar Cable-Driven Parallel Crane without Parasitic Tilt

Abstract Cable-driven parallel robots (CDPRs) offer high payload capacities, large translational workspace, and dynamics performances. Their rotational workspace is generally far more limited, however, which can be resolved using cable loops, as was shown in previous research. In the case of fully constrained CDPRs, loops induce unwanted torques on moving-platform (MP), causing it to tilt move away from its intended position, we call parasitic tilt. Hence, orientation accuracy such usually limited. This paper deals with design, modeling, prototyping a planar CDPR infinite rotations, without an additional motor. robot, cable-driven crane (CDPC), composed mobile platform (MP) embedded mechanism transmission module. The MP linked frame by four cables, three them acting parallel, forming effect double parallelogram. Among these two form loop, i.e., they are strands same redirected through pulley. two-degree-of-freedom (dof) motions CDPC internal dof driven total actuators, fixed frame. As consequence, overall system actuated, mass inertia motion reduced, free tilts.