Coupled Dynamic Analysis and Prototype Implementation of a Anchor Platform for the Mobile Cable-Driven Parallel Robots

Abstract With the increasing demand for mobile cable-driven robots in various fields, enhancing their reconfigurability and stability has become a critical challenge. A mobile anchor platform for cable-driven robots is designed, integrating a Mecanum-wheeled omnidirectional mobile base and a reconfigurable lifting mechanism based on a coupled dynamics model. Unlike existing mobile or hybrid anchor platforms that primarily address kinematic redundancy or anchor repositioning while assuming a rigid or weakly coupled base, this study explicitly models the bidirectional, time-varying inertial coupling between base planar motion and anchor-height reconfiguration, and links this coupling to structural stress/deformation under operation. First, the kinematics and dynamics of the Mecanum-wheeled mobile base are analyzed, and the inertial effects between the lifting platform and the mobile base are investigated. Second, a coupled dynamics model is established based on the interaction of inertial forces between the lifting platform and the mobile base, and the dynamic characteristics of the coupled system are analyzed. To validate the effectiveness of the prototype structure, static and dynamic simulations of the anchor platform are conducted, revealing the stress and strain distributions under various working conditions. Finally, a dual-vehicle cable-driven robot prototype is constructed, and lateral pulling experiments are performed to verify the stability and effectiveness of the mobile anchor platform under dynamic conditions. The results demonstrate that the proposed platform maintains excellent performance under different working conditions, confirming the accuracy of the coupled dynamics model and providing theoretical support for the design of mobile cable-driven robot systems.