Chinese Journal of Mechanical Engineering >

2018 , Vol. 31 >Issue 4: 66 - 66

DOI: https://doi.org/10.1186/s10033-018-0267-9

Review

A Review on Cable-driven Parallel Robots

  • Sen Qian ,
  • Bin Zi ,
  • Wei-Wei Shang ,
  • Qing-Song Xu
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  • 1. School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China;
    2. Department of Automation, University of Science and Technology of China, Hefei 230027, China;
    3. Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macau, China

收稿日期: 2018-03-23

  网络出版日期: 2019-07-23

基金资助

Supported by National Natural Science Foundation of China (Grant Nos. 51605126, 51575150, 91748109)

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A Review on Cable-driven Parallel Robots

  • Sen Qian ,
  • Bin Zi ,
  • Wei-Wei Shang ,
  • Qing-Song Xu
Expand
  • 1. School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China;
    2. Department of Automation, University of Science and Technology of China, Hefei 230027, China;
    3. Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macau, China

Received date: 2018-03-23

  Online published: 2019-07-23

Supported by

Supported by National Natural Science Foundation of China (Grant Nos. 51605126, 51575150, 91748109)

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摘要

Cable-driven parallel robots (CDPRs) are categorized as a type of parallel manipulators. In CDPRs, fexible cables are used to take the place of rigid links. The particular property of cables provides CDPRs several advantages, including larger workspaces, higher payload-to-weight ratio and lower manufacturing costs rather than rigid-link robots. In this paper, the history of the development of CDPRs is introduced and several successful latest application cases of CDPRs are presented. The theory development of CDPRs is introduced focusing on design, performance analysis and control theory. Research on CDPRs gains wide attention and is highly motivated by the modern engineering demand for large load capacity and workspace. A number of exciting advances in CDPRs are summarized in this paper since it is proposed in the 1980s, which points to a fruitful future both in theory and application. In order to meet the increasing requirements of robot in diferent areas, future steps foresee more in-depth research and extension applications of CDPRs including intelligent control, composite materials, integrated and reconfgurable design.

关键词： Cable-driven parallel robots; Design and modelling; Control and planning; Performance and optimization

本文引用格式

Sen Qian , Bin Zi , Wei-Wei Shang , Qing-Song Xu . A Review on Cable-driven Parallel Robots[J]. Chinese Journal of Mechanical Engineering, 2018 , 31(4) : 66 -66 . DOI: 10.1186/s10033-018-0267-9

Abstract

Cable-driven parallel robots (CDPRs) are categorized as a type of parallel manipulators. In CDPRs, fexible cables are used to take the place of rigid links. The particular property of cables provides CDPRs several advantages, including larger workspaces, higher payload-to-weight ratio and lower manufacturing costs rather than rigid-link robots. In this paper, the history of the development of CDPRs is introduced and several successful latest application cases of CDPRs are presented. The theory development of CDPRs is introduced focusing on design, performance analysis and control theory. Research on CDPRs gains wide attention and is highly motivated by the modern engineering demand for large load capacity and workspace. A number of exciting advances in CDPRs are summarized in this paper since it is proposed in the 1980s, which points to a fruitful future both in theory and application. In order to meet the increasing requirements of robot in diferent areas, future steps foresee more in-depth research and extension applications of CDPRs including intelligent control, composite materials, integrated and reconfgurable design.

Key words： Cable-driven parallel robots; Design and modelling; Control and planning; Performance and optimization

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