1. State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China 2. Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and Control, Tsinghua University, Beijing 100084, China 3. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109, USA 4. Department of Precision Instrument, Tsinghua University, Beijing 100084, China 5. School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China 6. Ningbo Institute of Industrial Technology, Chinese Academy of Sciences (CAS), Ningbo 315201, China 7. Department of Mechanical Engineering, Université Laval, Quebec QC G1V 0A6, Canada 8. Laboratory of Digital Sciences of Nantes, National Centre for Scientific Research, Nantes 44321, France
Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-driven kinematic chains and parallel mechanism theory. It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves the workspace, cost and energy efficiency simultaneously. As a result, CDPRs have had irreplaceable roles in industrial and technological fields, such as astronomy, aerospace, logistics, simulators, and rehabilitation. CDPRs follow the cutting-edge trend of rigid–flexible fusion, reflect advanced lightweight design concepts, and have become a frontier topic in robotics research. This paper summarizes the kernel theories and developments of CDPRs, covering configuration design, cable-force distribution, workspace and stiffness, performance evaluation, optimization, and motion control. Kinematic modeling, workspace analysis, and cable-force solution are illustrated. Stiffness and dynamic modeling methods are discussed. To further promote the development, researchers should strengthen the investigation in configuration innovation, rapid calculation of workspace, performance evaluation, stiffness control, and rigid–flexible coupling dynamics. In addition, engineering problems such as cable materials, reliability design, and a unified control framework require attention.
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