To examine the influence of the configuration of a cable-driven parallel robot (CDPR) on its stiffness and stiffness controllability, a concept for a cable tension constraint workspace (CTCW) of CDPRs is introduced. Using a static force analysis, a static CDPR model was established and its stiffness model and a method for optimizing the cable tension were reviewed. To analyze and appraise the CDPR global and local stiffness controllability, a new concept of stiffness controllability degree is proposed and defined. In addition, a calculation method is proposed that uses the cable tension feasible region to effectively obtain the CTCW of the CDPRs according to the cable tension constraint condition. The driving cable layouts of the various CDPR configurations were optimized to maximize the CTCW volume as a performance index. In addition, the stiffness and stiffness controllability of each configuration CDPR were analyzed. The results of the theoretical and experimental analyses validated the efficacy of the presented method and serve as reference for the use of robots in practical applications or for design optimization.

为了检查电缆驱动并行机器人（CDPR）的配置对其刚度和刚度可控性的影响，引入了CDPR电缆张力约束工作空间（CTCW）的概念。利用静力分析，建立了静态CDPR模型，并对其刚度模型和优化电缆张力的方法进行了综述。为了分析和评价CDPR的整体和局部刚度可控性，提出并定义了刚度可控度的新概念。此外，提出了一种计算方法，该方法利用电缆张力可行区域根据电缆张力约束条件有效地获得CDPR的CTCW。优化了各种CDPR配置的驱动电缆布局，以最大程度地提高CTCW体积作为性能指标。此外，分析了每种配置CDPR的刚度和刚度可控性。理论和实验分析的结果验证了所提出方法的有效性，并为在实际应用中使用机器人或进行设计优化提供了参考。