Advancements and Theoretical Foundations of Cable-Driven Parallel Robots: A Comprehensive Overview

Parallel robotic mechanisms using cables instead of rigid limbs are termed cable-driven parallel robots (CDPRs). Electric motors and pulley mechanisms actuate cables to provide motion for an end-effector in a cable robot. Consequently, CDPRs have emerged as indispensable tools across a spectrum of industrial and technological domains, including astronomy, aerospace, logistics, simulators, and rehabilitation. Their inherent compatibility with the evolving concept of rigid-flexible fusion places CDPRs at the forefront of cutting-edge robotics research. This comprehensive paper aims to consolidate the core theories and advancements underpinning CDPRs, encompassing key aspects such as configuration design, cable-force distribution, workspace and stiffness analysis, performance evaluation, optimisation techniques, and motion control. We provide in-depth insights into kinematic modelling, workspace exploration, and cable-force solutions. Furthermore, the paper delves into the intricacies of stiffness and dynamic modelling, presenting a range of analytical methods to elucidate their effects on CDPR performance. Addressing reliability concerns and developing a unified control framework are identified as essential in ensuring the practical deployment of CDPRs in real-world scenarios. This research paper offers a comprehensive overview of the theories and advancements in CDPRs, identifying critical areas for further research and development to unlock the full potential of these versatile and high-performance robotic systems.