SUMMARYCable-driven parallel manipulators (CDPMs) offer advantages over traditional parallel manipulators. Though their ability to accelerate is higher than the traditional motion platforms, the capabilities are often not used optimally. The issues of cable slackening (especially at higher accelerations) and the emergence of singularity poses have traditional limitations. This paper analyzes and generates manipulator configurations that reduce the effect of these two essential hindrances of deploying CDPMs. A methodology, inspired by rigid body dynamics of multiple contact problems, used to optimize the positions of attachment points, is shown to be effective.

中文翻译：

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通过重新配置增强电缆驱动并联机械手的动态能力

摘要电缆驱动的并联机械手 (CDPM) 提供优于传统并联机械手的优势。尽管它们的加速能力高于传统的运动平台，但这些能力往往没有得到最佳利用。电缆松弛问题（尤其是在更高的加速度下）和奇点位姿的出现具有传统的局限性。本文分析并生成了机械手配置，以减少部署 CDPM 的这两个基本障碍的影响。一种受多接触问题的刚体动力学启发的用于优化附着点位置的方法被证明是有效的。