This paper presents a design and automation environment to study the control trajectory for new CDPR architectures, for instance CDPRs with an unusual number of cables or different motor location in the robot frame. In order to test the environment capabilities, an architecture of a planar under-constrained CDPR was designed, simulated, and implemented using standard industrial hardware. Both the simulated model and industrial prototype were running the same trajectories to determine the time delay and the error position between them. The tests have demonstrated that the simulated model of the CDPR reproduces the trajectories of the equivalent industrial prototype with a maximum deviation of 0.35% under loading and different speed conditions, despite the time delays produced by the data transmission and the non-deterministic communication protocols used to connect the industrial automation controller with the simulated model. The results have shown that the environment is suitable for trajectory control and workspace analysis of new CDPR architectures under different dynamic conditions.

中文翻译：

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新 CDPR 架构的设计和自动化环境

本文介绍了一个设计和自动化环境来研究新 CDPR 架构的控制轨迹，例如在机器人框架中具有异常数量的电缆或不同电机位置的 CDPR。为了测试环境能力，使用标准工业硬件设计、模拟和实现了平面欠约束 CDPR 的体系结构。仿真模型和工业样机都运行相同的轨迹，以确定它们之间的时间延迟和误差位置。测试表明，CDPR 的仿真模型再现了等效工业原型的轨迹，在负载和不同速度条件下的最大偏差为 0.35%，尽管数据传输和用于连接工业自动化控制器与仿真模型的非确定性通信协议产生了时间延迟。结果表明，该环境适用于不同动态条件下新 CDPR 架构的轨迹控制和工作空间分析。