Tension restrained workspace analysis for cable-driven parallel robot

Cable-driven 3-DOF(three degree-of-freedom)robot was free to rotate in the workspace. For the cable was unilateral which was only may be stretched but not be compressed. To control the robot better, it was significant to research the cable tension. By using the geometry and the matrix method, it was easy to analyze the assignment situation of cable tension. Under the density restraint's condition, tension coefficient was proposed as the appraisal of the tension assignment. After obtaining the tension coefficient distribution map, it had a direct-viewing understanding of tension workspace, then the effective tension assignment optimization algorithm can be proposed; By the discussion of the influencing factor and the selection method's of the smallest pre-tightened force, it may obtain the smallest real-time computation pre-tightened force formula, thus it would guarantee that the cable tension was at tightens in every condition; Finally, with the prototype's strength examination system the tension feedback experiment was taken, which may confirm the above theory. Through analyses and research of the above several parts, it may actuate a synthesis and comprehensive understanding for the cable tension problem of four cable-driven three degree-of-freedom robots.