Deployment/Retrieval Modeling of Cable-Driven Parallel Robot

A steady-state dynamic model of a cable in air is put forward by using some tensor relations. For the dynamic motion of a long-span Cable-Driven Parallel Robot (CDPR) system, a driven cable deployment and retrieval mathematical model of CDPR is developed by employing lumped mass method. The effects of cable mass are taken into account. The boundary condition of cable and initial values of equations is founded. The partial differential governing equation of each cable is thus transformed into a set of ordinary differential equations, which can be solved by adaptive Runge-Kutta algorithm. Simulation examples verify the effectiveness of the driven cable deployment and retrieval mathematical model of CDPR.