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A Study of Tension Distribution for Control of Planar Cable Driven Parallel Robot Using Quadratic Programming Algorithm

The kinematic problem of Cable Driven Parallel Robots is not like that of other conventional robots due to the transmission mechanisms are the cables that can only exert the pulling force on the moving frame because the cable cannot be used to push. Therefore, the robot can only perform the task if the tensions in all cables are positive. The calculation of the kinematics and control for these types of robots as well as calculating the tension distribution to ensure the equilibrium for the moving frame at the nodes have to be done simultaneously. This paper described analysis and experiments of a planar cable driven parallel robot, in which, the inverse kinematics of the robot is solved based on a cable tension distribution model with a quadratic cost function, the values of tensions of cables are preferred to follow the mean value of the cable tension limit. A force feedback controller is also designed to control the robot based on calculated data, then the experimental results are analyzed to evaluate the effectiveness of this model.