Dynamic trajectory planning of reconfigurable suspended cable robot

This paper focuses on the dynamic trajectory planning of reconfigurable suspended cable robot. By using the approach of the dynamic equilibrium of suspended cable robot, a set of constraint equations are derived. These equations represent the cable tensions in terms of the cable directions, moving-platform payload and the instantaneous position of the moving-platform. While fulfilling the dynamic equilibrium, the position of cable contact points are reconfigured thanks to the pulley mechanism. Through the pulley reconfiguration, the robot may adapt its tension to be always positive while executing the task for a given trajectory. Two robot structures will be compared for various parametric trajectories. A prototype has been fabricated for both robot structures to demonstrate the tension distributions along the trajectory.