Development of Cable-Suspended Parallel Robot, Cpr System, and Its Sub-Systems

Ljubinko B. Kevac, Mirjana M. Filipovic

This paper is an overview of the modeling approaches of different constructions of Cable Suspended Parallel Robots, CPR systems. Each new design requires studious approach and detection of specific phenomena, which needs to be defined through the process of mathematics modeling. The characteristic features of CPR structures can be grouped as follows: 1. shape of the work space (plane, spatial), 2. number of motors, 3. type of motors, translational or rotational motors, 4. number of hanging points, 5. total number of ropes for the functional work of the CPR system, 6. number of ropes from the camera carrier to the hanging points, 7. type of cable winding/unwinding system, CWU system, and influence of new dynamic variables: winch radius of CWU system and cable length on dynamic response of CWU system and finally on dynamic response of CPR system. Each of these characteristics differently affects the response of the CPR system. The geometric relations between the motor and the camera carrier motion are very important for the modeling of the system. The mathematical model (kinematic and dynamic) is defined as generally solution. It is evident that the choice of construction of CPR significantly affects the response of this system. The validity of the obtained theoretical contribution has been illustrated through several case studies by using a newly developed software packages.