Kinematic Modeling and Workspace Analysis of a Cable-Driven Parallel Robot Considering Environmental Collisions

Abstract Traditional cable-driven parallel robots (CDPRs) are limited by the collision-free constraints imposed by cables and environmental obstacles; however, motion planning cannot avoid all obstacles, limiting the CDPR's workspace. This article presents a kinematic model for the CDPR that accounts for environmental collisions with straight lines, cylinders, and cuboids enabling the cables to keep operating even after colliding with obstacles. First, kinematic and static analyses were performed. Second, a collision contact model for a single cable attached to a common geometric obstacle such as straight lines, cylinders, and cuboids was established, collision detection between the cable and obstacle was completed, and a kinematic model for the CDPR considering environmental collisions with straight lines, cylinders, and cuboids involving a single obstacle was proposed. Finally, an algorithm solving the wrench feasible workspace considering environmental collisions with cylinders and cuboids was proposed and simulated. An experimental prototype was developed to perform relevant experiments. Results show that the robot can operate in the presence of unavoidable obstacles, effectively reducing the installation environment requirements and expanding the workspace.