Torque Resistance Analysis and Dynamic Trajectory Planning for 3-DOF Cable Suspended Parallel Robot With Parallelogram Cable Loops

This letter investigates the torque resistance performance and dynamic trajectory planning methods for general 3-DOF Cable Suspended Parallel Robots (CSPRs) with parallelogram cable loops, aiming to offer efficient and lightweight robotic equipment for industrial applications. The Torque Resistance Ability Index (TRAI) and Torque Resistance Consumption Index (TRCI) are proposed to evaluate the torque resistance performance of parallelogram cable loops and CSPRs. The Fourier model is adopted to plan the dynamic trajectory of the CSPR with the proposed TRAI and TRCI, which effectively minimizes oscillations and avoids overturns of the moving platform. The B-spline model is employed to implement more complex dynamic trajectories that go through additional constraint points, enhancing flexibility and adaptability. A prototype of the CSPR with parallelogram cable loops is established, and the proposed indexes and trajectory planning methods are verified with experiments.