Abstract Cable mass and elasticity play a prominent role in analyzing large-scale cable-driven parallel robots (CDPR). However, for catenary cables (i.e., cables with mass and elasticity), the inverse kinematics of CDPR becomes a non-linear kineto-static problem. Furthermore, for redundant CDPR, this leads to multiple kineto-static solutions. This paper focuses on investigating various selection criteria to determine a unique kineto-static solution for the redundant over-constrained CDPR. For this investigation, the effect of the proposed selection criteria on sagging, elastic elongations and cable tensions are analyzed. Appropriate selection criteria, according to the application requirements, are proposed. Additionally, a rigorous study is done to analyze the effect of considering conventional cable models (i.e., massless rigid and massless elastic cable model) instead of the catenary cable model for various payloads, cables, and selection criteria. This helps in determining when a massless rigid/elastic cable model can be used as an alternative to the catenary cable model, which in turn, can avoid the additional computational complexity. The proposed analysis is beneficial in appropriate selection of actuators, cables, selection criteria and model complexity for a given redundant CDPR.

中文翻译：

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考虑电缆质量和弹性的冗余电缆驱动并联机器人选择标准对动静力学解的影响

摘要 电缆质量和弹性在分析大型电缆驱动并联机器人（CDPR）中起着重要作用。然而，对于悬链电缆（即具有质量和弹性的电缆），CDPR 的逆运动学成为非线性动静力学问题。此外，对于冗余 CDPR，这会导致多个动静力学解决方案。本文重点研究各种选择标准，以确定冗余过约束 CDPR 的独特动静力学解决方案。在本次调查中，分析了建议的选择标准对下垂、弹性伸长率和缆索张力的影响。根据应用要求，提出了适当的选择标准。此外，还进行了一项严格的研究来分析考虑传统电缆模型（即，无质量刚性和无质量弹性电缆模型）而不是用于各种有效载荷、电缆和选择标准的悬链电缆模型。这有助于确定何时可以使用无质量刚性/弹性电缆模型作为悬链电缆模型的替代方案，从而避免额外的计算复杂性。The proposed analysis is beneficial in appropriate selection of actuators, cables, selection criteria and model complexity for a given redundant CDPR.