Mechanism Design and Kinematic Analysis of a Cable-Driven Parallel Robot for Grinding Applications

To overcome the limitations of conventional grinding methods-including low efficiency, insufficient safety, inadequate stiffness, and restricted workspace of serial grinding robots-this paper proposes a novel cable-driven parallel grinding robot. The system leverages cable-driven parallel mechanisms to achieve six-degree-of-freedom precision motion of the grinding head in 3D space. This paper thoroughly investigated the mechanical design of the marine cable-driven parallel grinding robot, established a kinematic model, and derived mathematical relationships between cable lengths and the moving platform's pose. The Jacobian matrix was applied to analyze velocity/acceleration transmission between cables and moving platform, laying the foundation for its dynamic performance and control strategy research. MATLAB simulations validated the kinematic model and demonstrated significant improvements in grinding efficiency and quality, with robust stability and environmental adaptability. Consequently, this robot provides an efficient solution for complex curved surface grinding operations on marine structures, with substantial theoretical and practical value.