Development of Modular Cable-Driven Parallel Robotic Systems

Task-oriented modular design and safety monitoring are demonstrated to be outstanding challenges for robots in practical application. In order to obtain better flexibility and better obstacles avoidance capability, design and analysis of a modular cable-driven parallel robot (MCDPR) are presented in this paper, which can be reconfigured to several configurations in engineering applications by changing the number of the mobile modules and the connection mode of the end effector. With regard to the motion control and safety monitoring system, the design and implementation of hardware and software are presented. An experimental prototype for the MCDPR is developed, followed by a brief illustration of the connection mode between the end effector and cables, and the installation of monitoring nodes. The performance of the MCDPR is discussed experimentally, including real-time pose monitoring and obstacle avoidance. The results verify the feasibility and efficiency of kinematics model and obstacle avoidance method, and the results also indicate that the designed motion control and safety monitoring system can realize trajectory tracking control, real-time safety monitoring, and obstacle avoidance for the MCDPR.