Document Type : Original Article


Department of Mechanical Engineering, Babol University of Technology, Iran


Cable driven parallel manipulator (CDPM) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. It is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manipulating a long-span CDPM. These terms complicate governing equation of motion in a way that special tactic are applied for simulation and solving this problem. Flexibility and mass of cables impose vibration and error in path trajectory planning. Effect of varying stiffness in precise performance of CDPM is surveyed. The cables are modelled, in ADAMS software to illustrate the dynamical behaviours of the manipulator for comparison with the simulated results. Moreover, an algorithm is developed to study the effects of velocity and acceleration of the end-effector on the dynamics of CDPMs. Moreover it is shown that the evolutionary computing algorithms are so effective in solving complicated nonlinear dynamic path trajectory planning. Simulations for different trajectories of two CDPMs are included to demonstrate the efficiency of the proposed algorithm.


[1]   Albus, J., Bostelman, R., and Dagalakis, N., “The NIST robocrane”, Journal of Research of the National Institute of Standards and Technology, Vol. 97, No. 3,1992, pp. 373–385.
[2]   Campbel, P., Swaim, P., and Thompson, C., “Charlotte robot technology for space and terrestrial applications”, Proceedings of the 25th international conference on environmental systems, SAE Technical Paper 951520, San Diego, 1995.
[3]   Cone, L., “Sky cam: an aerial robotic camera system”, Byte, Vol. 10, No. 10, 1985, pp. 122–132.
[4]   William, I., “Cable-suspended haptic interface”, International Journal Virtual Reality, Vol. 3, No. 3, 1998, pp. 13–21.
[5]   Zi, B., Duan, B., Du, J., and Bao, H., “Dynamic modelling and active control of a cable suspended parallel robot”, Mechatronics. Vol. 18, No. 1, 2008, pp. 1–12.
[6]   Rosati, G., Gallina, P., and Rossi, A., “Wire-based robots for upper-limb rehabilitation”, International Journal Assist Robot Mech, Vol. 7, No. 2,2006, pp. 3–10.
[7]   Aria, T., Osumi, H., and Yamaguchi. H., “Assembly robot suspended by three wires with seven degrees of freedom”, Proceedings of the 11th international conference on assembly automation, MS90-807, Dearborn, 1990.
[8]   Riechel, A., Bosscher, P., and Lipkin, H., “cable-driven robots for use in hazardous environments”, Proceedings of the 10th international topical meeting on robotics and remote systems for hazardous environments, Gainesville, 2004, pp. 310-317.
[9]   Mustafa, S., Yang, G., and Yeo, S., “Self-calibration of a biologically inspired 7 DOF cable driven robotic arm”, IEEE/ASME Transactions on Mechatronics, Vol. 13, No. 1, 2008, pp. 66–75.
[10]            Cablecam [online]. Available: [cited 2010].
[11]            Kawamura, S., Kino, H., and Won, C., “High-speed manipulation by using a parallel wire-driven robots”, Robotica, Vol. 18, No. 1, 2000, pp. 13–21.
[12]            Gouttefarde, M., Gosselin, C., “Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms”, IEEE Transactions on Robotics, Vol. 22, No. 3, 2006, pp.434–445.
[13]            Gouttefarde, M., Daney, D., and Merlet, J., “Interval-analysis-based determination of the wrench-feasible workspace of parallel cable-driven robots”, IEEE Transactions on Robotics, Vol. 27, No. 1, 2011, pp. 1–13.
[14]            Fattah, A., Agrawal, S., “On the Design of Cable-Suspended Planar Parallel Robots”, Mechanical Design, Vol. 127, No, 5, 2005, pp. 1021-1028.
[15]            Gouttefarde, M., Krut, S., Company, O., Pierrot, F. and Ramdani, N., “On the design of fully constrained parallel cable-driven robots”, Advances in Robot Kinematics: Analysis and Design, By J. Lenarcic and P. Wenger, Springer Netherlands, 2008, pp. 71–78.
[16]            Bosscher, P., Uphoff, I., “A stability measure for under constrained cable-driven robots”, International Conference on Robotics and Automation, New Orleans, LA, 2004, pp. 4943–4949,
[17]            Korayem, M. H., Jalali, M., Tourajizadeh, H., “Dynamic Load Carrying Capacity of Spatial Cable Suspended Robot: Sliding Mode Control Approach”, International Journal Advanced Design and Manufacturing Technology, Vol. 5, No. 3, June – 2012, pp. 73-81.
[18]            Ryeok, O., Kaylan, K., and Agrawal, S., “Dynamic modelling and robust controller design of a two-stage parallel cable robot”, Multibody System Dynamics, Vol. 13, 2005, pp. 385–399.
[19]            Tourajizadeh, H., Korayem, M. H., and Yousefzadeh, M., “Modelling and Optimal Control of a Sport Utility Cable Suspended Robot”, Int J Advanced Design and Manufacturing Technology, Vol. 8, No. 3, September, 2015, pp. 77-87.
[20]            Oh, S., Agrawal, S., “A reference governor based controller for a cable robot under input constraints”, IEEE Transaction on Control Systems Technology, Vol. 13, No. 4, 2005, pp. 639–645.
[21]            Khosravi, M., Taghirad, H., “Dynamic Analysis and Control Of Cable Driven Robots With Elastic Cables”, Transactions- Canadian Society for Mechanical Engineering, Vol. 35, No. 4, 2011, pp. 543-557.
[22]            Cheng, Y., Ren, G., and Dai, S., “The multi-body system modelling of the Gough–Stewart platform for vibration control”, Journal of Sound and Vibration, Vol. 271, No. 3, 2004, pp. 599–614.
[23]            Jingli, D., Hong, B., and Duan, X., “Jacobian analysis of a long-span cable-driven manipulator and its application to forward solution”, Mechanism and Machine Theory, Vol. 45, No. 9, 2010, pp. 1227–1238.
[24]            Duan, Q., Duan, X., “Analysis of Cable-actuated Parallel robot with Variable Length and Velocity cable”, Procedia Engineering, Vol. 15, 2011, pp. 2732 –2737.
[25]            Dun, J., Bao, H., and Cui, C., “Dynamic analysis of cable-driven parallel manipulators with time-varying cable lengths”, Finite Elements in Analysis and Design, Vol. 48, No. 1, 2012, pp. 1392–1399.
[26]            Riehl, N., Gouttefarde, M., and Krut, S., “Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms”, IEEE International Conference on Robotics and Automation, Kobe International Conference, Kobe, Japan, 2009, May 12-17, pp. 2193–2198.