Abstract—In recent years, Cable-Driven Parallel Manipulators (CDPM) become more and more interesting topics of robot researchers due to its outstanding advantages. Unlike traditional parallel robots, CDPMs use many flexible cables in order to connect the robot fixed frame and the moving platform instead of using conventional rigid links. Since cables used in CDPM is very light compared to rigid links, its workspace can be very large. Besides, CDPMs are often enhanced load capacity by adding redundant actuators. They also help to widen the singularity-free workspace of CDPM. On the other hand, the redundant actuators produce the underdetermined system i.e. the system has non-unique solutions. Moreover, the elasticity and bendability of flexible cable caused by self-weight and external forces act on it, resulting in the kinematic problem of CDPMs are no longer related to the geometric problem. Therefore, the system of CDPM become non-linear when the deformation of cable is considered. In this study, we introduce the simplified static cable model and use it to linearize the static model of redundantly actuated CDPM. The algorithm to solve the force distribution problem is proposed in section 4. The static-workspace and the performance of those are analyzed in a numerical test.  

Index Terms—cable-driven parallel manipulator, CDPM, static analysis, sagging cable, force distribution, workspace