Faculty of Mechanical Engineering, Ho Chi Minh City University Of Technology268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City

Tension analysis

Kinematic modelling Dynamic modelling

Workspace analysis

Optimal design Trajectory planning

Prototypedevelopment Motion control

Analysis and Design of Cable-Driven Parallel Mechanisms

Researchers : A/P Yeo Song Huat, Dr. Yang Guilin, Dr. Pham Cong Bang

Objective: To establish fundamental tools for tension analysis of cable-driven parallel mechanisms (CDPM), to formulate the kinematics, dynamics and performance analysis of CDPM systematically, and to develop optimal design methodologies for CDPM.

Objective: To establish fundamental tools for tension analysis of cable-driven parallel mechanisms (CDPM), to formulate the kinematics, dynamics and performance analysis of CDPM systematically, and to develop optimal design methodologies for CDPM.

Introduction

Features:

• Simple light-weight mechanical structure, resulting in low energy consumption.

• Low inertial moment, high acceleration and high speed motion.

• Large reachable workspace, limited mainly by cable lengths and cable tension constraints.

• Easy reconfigurability by relocating platform connecting points and base suspending points.

Features:

• Simple light-weight mechanical structure, resulting in low energy consumption.

• Low inertial moment, high acceleration and high speed motion.

• Large reachable workspace, limited mainly by cable lengths and cable tension constraints.

• Easy reconfigurability by relocating platform connecting points and base suspending points.

Tension Conditions

Prototype Development

Motor

WinchTimingbelt

t1

tm

Fp t1

tm

Fp

m n + 1 m = n + 1 m n + 1

t1

tm

Fp

Force-closurecondition

Feasible wrenchcondition

Wrench setcondition

(m: number of cables; n: number of degrees of freedom)

Cable Driving Unit (CDU)

Research issues

User Interface

Connection box

CDU

Cable Roller

Home mechanismMoving platform