This paper studies the optimization design of the moving platform(MP) for an eight-cables, six-Dofs reconfigurable redundant cable-driven parallel robots (RR-CDPRs) for spraying operations, utilizing the Non-dominated Sorting Genetic Algorithm II (NSGA-II). RR-CDPRs have advantages such as lightweight, low inertia, flexible workspace, and strong anti-interference capability, but they face challenges such as base tipping and cable interference. In this study, the overall performance of the robot is enhanced by optimizing the anchor point parameters of the MP.

Firstly, this paper establishes a mechanical model for the cable-driven parallel robot and proposes a calculation method that integrates force feasibility, non-interference of the cables, and the workspace considerations for tipping and slipping of the base. The performance of the platform is evaluated by combining indicators such as workspace volume, global flexibility, the mean value of global cable tension, and global elastic stiffness.

This paper addresses the optimization problem by employing the NSGA-II algorithm. Through non-dominated sorting and crowding degree calculations, along with an elite strategy selection, we achieve multi-objective optimization of the robot’s MP structure. The results of the simulation experiments indicate that the workspace volume of the Pareto optimal solution A reaches 5.21 m³, with a global flexibility of 0.456, representing a significant improvement over the original solution. However, this enhancement comes at the cost of performance in other areas. At the conclusion of the article, we analyze the influence of various configurations on the performance parameters.

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

   Xin Zhang, Jingli Du, Yetong Shi & Kaiqing Du

Correspondence to Jingli Du.

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