Force balance control method of adjustable parallel cable-driven platform

Aiming at the problem that the existing parallel cable-driven platform can not be balanced in many positions and orientations, this paper first proposes a new type of cable-driven platform with adjustable cable node positions. Then, by analyzing the relationship between the platform position and orientation, the size of the cable pulling force, and the relationship between the position and direction of the cable, a universal kinematic model is constructed. Finally, the experiment is verified by simulation. The simulation results show that, combined with the new platform and model designed in this paper, the force imbalance problem of the parallel cable-driven platform in any position and orientation can be solved.