Design and Control of a Novel Cable Driven Parallel Mechanism

The cable driven parallel mechanism(CDPM) has the advantage of high mobility and low inertia, it is widely used in rehabilitation robot, wind tunnel simulation and many industrial scenes. This paper focus on a type of CDPM with only two rotational degrees of freedoms(DoFs). Through the proper design of the structure, the motion of the mechanism can be measured accurately. Then on the basis of kinematics and dynamics analysis, a linear active disturbance rejection control(LADRC) method is proposed to achieve the precise control of the CDPM. Finally, the effectiveness of the proposed method is verified by simulation experiments.