A NOVEL METHODOLOGY FOR CHOOSING ACTUATORS OF CABLE-SUSPENDED PARALLEL ROBOTS

A novel methodology for choosing actuators of a CPR system was defined. This methodology was based on a novel procedure for analysis and synthesis of the workspace of Cable-suspended parallel robot, CPR system. Besides the kinematic and dynamic models of the CPR system, this procedure includes the complete mathematical model of the actuator as well. On this basis, this procedure presents a novel solution for the analysis and synthesis of CPR system’s workspace. When using the proposed methodology for choosing actuators of a CPR system, user and designer together define the corresponding technical requirements, one of them being the relative size of the feasible work space of the CPR system. Based on these requirements, the developed methodology tests available actuators from its data base and extracts the useful ones for the predefined specific purpose. The purpose of this research is to interconnect theoretical contributions from CPR system’s modelling and needs of the user and designer during their practical implementation. For this purpose, a user friendly program package called PPACM was generated. The program package PPACM and obtained results were validated through the presentation of several case studies