Cable Tension Optimization for a Planar CDPR Through Anchor Reconfiguration

This paper introduced a novel approach in Cable-Driven Parallel Robots (CDPRs) on planar surface applications. It focuses on challenges in redundancy, reconfiguration, and payload capacity. The research presents innovative solutions for cable tension optimization and anchor reconfiguration, aiming to resolve redundancy issues in multi-anchor systems. It combines theoretical models with experimental data from extensive laboratory experiments, employing linear programming to optimize cable-driven redundant parallel manipulators. This approach underlines the paper's contribution to enhancing the operational efficiency and precision of CDPRs, ensuring practical applicability of the findings.