Dynamic Modeling and Optimization of Tension Distribution for a Cable-Driven Parallel Robot

Cable-driven parallel robots (CDPRs) have been gaining much attention due to their many advantages over traditional parallel robots or serial robots, such as their markedly large workspace and lightweight design. However, one of the main issues that needs to be urgently solved is the tension in the distribution of CDPRs due to two reasons. The first is that a cable can only be stretched but not compressed, and the other is the redundancy of the parallel robot. To address the problem, an optimization method for tension distribution is proposed in the paper. The structural design of the parallel robot is first discussed. The dynamics model of the parallel robot is established by the Newton–Euler method. Based on the minimum variance of cables’ tension, an optimization method of tension distribution is presented for the parallel robot. Furthermore, the tension extreme average term is introduced in the optimization method, and the firefly algorithm is applied to obtain the optimal solution for tension distribution. Finally, the proposed approach is tested in the simulation case where the end-effector of the robot moves in a circular motion. Simulation results demonstrate that the uniformity and continuity of tension are both outstanding for the proposed method. In contrast with traditional solving methods, the efficiency of this method is largely improved.