Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism

Abstract. This study proposes a haptic interactive robot (HIR) configuration and control strategy based on cable-driven parallel mechanism. The ball screw drives the cable to improve motion accuracy. system improves accuracy stability of interaction. Through optimization design analysis, eight cables are used ensure that end effector exerts force enables motion. Moreover, forward inverse kinematics model is developed. According HIR, an improved tension distribution algorithm can facilely determine tension. Hence, each consistently in tight state, change not sudden. Drive unit strategies proposed render interaction accurate stable. A simulation experiment complex space track implemented through effector, thus verifying established model. algorithm, strategy, verified experiments, considering different forces tracks effectors.