Investigation on a planar cable-driven parallel robot

Planar parallel robots have been examined theoretically for a long period. Similarly, cable robots have also been a subject for research in the last decade. Recent research on cable-driven parallel robots primarily focused on spatial configurations which enable six degrees of freedom (DOF). This paper examines a planar cable robot with two translative and one rotative DOF. We present a theoretic concept of the robot and the implementation of the kinematic algorithms used. The workspace of the robot is investigated for different tension levels. The calibration of the robot is done with a LaserTracker. Finally, simulation results are verified by measurements of the test rig performance.