Cable Driven Parallel Robots (CDPRs) are parallel robots, in which the limbs are replaced by cables that are guided by pulleys. In many papers, the pulleys are considered as fixed points of passage and the cable elasticity is neglected. Those approximations simplify the robot modelling, but lead to some Moving-Platform (MP) pose errors. This paper deals with the modelling of suspended three degree-of-freedom CDPRs considering the geometry and kinematics of the pulleys as well as the cable elasticity. Furthermore, a novel pulley architecture with an universal joint is designed to increase the accuracy of CDPRs and limit the bending moment in the pulleys. Then a sensitivity analysis conducted on these newly established models allows to precisely quantify the effect and interactions of design elasto-geometric parameters on the MP pose. It turns out that the interaction between pulleys geometrical parameters are significant and should be considered in the elasto-geometric static models. Finally, it is shown that a CDPR equipped with the novel pulley architecture helps reducing the overall MP pose error.

电缆驱动并联机器人（CDPR）是并联机器人，其中肢体由滑轮引导的电缆代替。在许多论文中，滑轮被认为是固定的通道，而电缆的弹性却被忽略了。这些近似值简化了机器人建模，但是会导致某些移动平台（MP）姿势错误。本文考虑了滑轮的几何形状和运动学特性以及电缆的弹性，对悬挂的三个自由度CDPR进行建模。此外，带有万向节的新型皮带轮结构被设计用来提高CDPR的精度并限制皮带轮中的弯矩。然后，对这些新建立的模型进行的敏感性分析可以精确地量化设计弹性几何参数对MP姿态的影响和相互作用。事实证明，皮带轮几何参数之间的相互作用是显着的，应在弹性几何静态模型中加以考虑。最后，表明配备新颖皮带轮架构的CDPR有助于减少总体MP姿态误差。