Kinematics and Dynamics of a 4 DoF Cable Driven Parallel Robot

Cable driven robots (called as cable-suspended robots and wire-driven robots as well) are a type of parallel manipulators in which flexible cables are used as actuators. One end of each cable is reeled around a rotor twisted by a motor, and the other end is connected to the end-effector. One famous example of cable robots is SKYCAM which is used to move a suspended camera in stadiums. Cables are much lighter than rigid linkages of a serial or parallel robot, and very long cables can be used without making the mechanism massive. As a result, the end-effector of a cable robot can achieve high accelerations and velocities and work in a very large workspace (e.g. a stadium). Numerous engineering articles have studied the kinematics and dynamics of cable robots 

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