A Survey of Design, Control, and Path Planning of Cable-Driven Parallel Robots

Cable-driven parallel robots (CDPRs) are a type of parallel manipulators in which flexible cables replace rigid links. This unique characteristic endows CDPRs with advantages over rigid-link robots, including larger workspaces, higher pay-load-to-weight ratios, and lower manufacturing costs. This paper focuses on the latest advancements in the design, control, and path planning of CDPRs. To meet the growing demand for robots across various industries, this paper provides a concise theoretical and technical overview for future research and applications of CDPRs.