Trajectory Planning of the Exit Point for a Cable-Driven Parallel Mechanism by Considering the Homogeneity of Tension Variation

Considering the uniformity of cable tension variation, in this paper, trajectory planning problem exit point for a continuously reconfigurable four-cable-driven two-degrees-of-freedom (DOF) parallel mechanism was studied. Furthermore, an improved quadratic programming model-based method is proposed, which greatly reduces change and can be used to solve excessive when existing moves on moving platform. First, structural characteristics with fixed were analyzed, static model established. length constraints, feasible workspace force solved. Then, based dynamic modeling, values under typical force-feasible workspace. Finally, considering influence parameters tension, transformed, proposed. The uniform realized by changing position. results show that uniformly very small range point, stability platform movement guaranteed greatest extent.