Kinematic and Dynamic Analysis of CPR-A: An Aerial Cable Suspended Parallel Robot

This paper presents a comprehensive analysis of the kinematics, dynamics, and inverse dynamic control of the Cable-Suspended Parallel Robot (CPR-A). The CPR-A system is a cable-driven robot employing two ropes fixed at the upper corners of a 3D workspace. By controlling the angular positions of three motors, the robot can precisely manipulate the motion of a camera carrier in Cartesian space. The study defines the desired trajectory of the camera’s motion and analyzes the system’s kinematics. The inverse kinematics problem is solved, and a closed-form solution for forward kinematics is given, contributing to the novelty of this research. The paper investigates the Jacobian analysis, which is essential for understanding the relationship between joint variable velocities and the robot’s end-effector motion. The dynamic analysis focuses on deriving the mass matrix, Coriolis and centrifugal, and gravity vectors for the CPR-A system. The study incorporates the mass of cables to achieve more accurate dynamics results. Furthermore, the implications of inverse dynamic control in shaping error free tracking performances are explored. Simulation results validate the analytical solutions, showcasing accurate tracking of desired trajectories.