On the limitations on the lower and upper tensions for cable-driven parallel robots

In this paper we discuss the feasible range for the cable forces of cable-driven parallel robots. Numerous papers on algorithms have been presented that assume certain values for the minimum and maximum cable forces. In this contribution we summarize criteria to derive the tension limits from kinematic, physical, and technological parameters point of view. We discuss a number of effects leading to the interval of feasible cable forces and provide formula and technical parameters that allow the determination of the limits for the cable forces. Typical values for the cable force limits are exemplified based on use-cases of different robots of the IPAnema system family.