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Design and Workspace Analysis of a Mobile Cable-Driven Parallel Robot
Дата публикации: 01-01-2027 00:00:00

Cable-Driven Parallel Robots (CDPRs) are widely employed in industrial applications due to their high payload capacity and expansive workspace. However, the traditional fixed-base design restricts their adaptability to diverse environments and various operational tasks. To address this limitation, this paper proposes a Mobile Cable-Driven Parallel Robot (MCDPR), which significantly expands the operational workspace and improves the robot’s adaptability to diverse operational conditions by integrating an omnidirectional mobile base with a reconfigurable anchor platform. First, the geometric model of the MCDPR is established. Second, based on static equilibrium and moment balance conditions, a numerical calculation framework for the Wrench Feasible Workspace (WFW) is developed, followed by Monte Carlo simulations to validate the approach. Finally, through comparative simulations involving multiple sets of reconfiguration parameters, their influence on the workspace adaptability of the MCDPR is analyzed. This study provides theoretical support for the dynamic analysis and control strategies of the MCDPR.

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Abstract

Cable-Driven Parallel Robots (CDPRs) are widely employed in industrial applications due to their high payload capacity and expansive workspace. However, the traditional fixed-base design restricts their adaptability to diverse environments and various operational tasks. To address this limitation, this paper proposes a Mobile Cable-Driven Parallel Robot (MCDPR), which significantly expands the operational workspace and improves the robot’s adaptability to diverse operational conditions by integrating an omnidirectional mobile base with a reconfigurable anchor platform. First, the geometric model of the MCDPR is established. Second, based on static equilibrium and moment balance conditions, a numerical calculation framework for the Wrench Feasible Workspace (WFW) is developed, followed by Monte Carlo simulations to validate the approach. Finally, through comparative simulations involving multiple sets of reconfiguration parameters, their influence on the workspace adaptability of the MCDPR is analyzed. This study provides theoretical support for the dynamic analysis and control strategies of the MCDPR.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China (Grant Nos. 52335002, 52205014).

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Authors and Affiliations

  1. School of Mechanical Engineering, Hefei University of Technology, 230009, Hefei, China

    Zitai Feng, Bin Zi, Yuan Li, Yuanyi Fan & Qingjun Wu

  2. School of Mechano-Electronic Engineering, Xidian University, 710071, Xi’an, China

    Bin Zi

Authors

  1. Zitai Feng
  2. Bin Zi
  3. Yuan Li
  4. Yuanyi Fan
  5. Qingjun Wu
Corresponding author

Correspondence to Yuan Li.

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Editors and Affiliations

  1. School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China

    Jianrong Tan

  2. School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China

    Zhenyu Liu

  3. Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China

    Weifei Hu

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Feng, Z., Zi, B., Li, Y., Fan, Y., Wu, Q. (2027). Design and Workspace Analysis of a Mobile Cable-Driven Parallel Robot. In: Tan, J., Liu, Z., Hu, W. (eds) Advances in Mechanical Design. ICMD 2025. Mechanisms and Machine Science, vol 206. Springer, Singapore. https://doi.org/10.1007/978-981-95-7904-4_59

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