Synthesis and Design of Cable-Driven Parallel Robot for High-Speed Metal Sheet Picking and Placing

This paper introduces a design of a suspended cable-driven parallel robot (CDPR) tailored for high-speed production line applications, with the objective of accommodating a 180 kg payload, a 5.6 m feed stroke, and an operating speed of 22 strokes per minute (SPM). The robot employs a dual three-parallel-cable configuration, enabling two degrees of freedom (DOF) translational motion through coordinated cable actuation. The study addresses the robot's configuration design, kinematic and dynamic modeling, workspace and anti-disturbance performance analysis, and power optimization. Simulation results demonstrate that within the working trajectory the force margin index (FMI) reaches 809–1431 N, and the moment margin index (MMI) achieves 93- $\mathbf{147}\ \mathbf{N}\cdot \mathbf{m}$, fully satisfying the disturbance rejection demands of the production line. By optimizing the S-curve acceleration trajectory, the maximum power of any individual cable is effectively limited to 12.8 kW.