Cable-driven parallel robots (CDPRs) are widely investigated and applied in the worldwide; however, traditional configurations make them to be limited in reaching their maximum workspace duo to constraints such as the maximum allowable tensions of cables. In this paper, we introduce auxiliary counterbalances to tackle this problem and focus on workspace analysis and optimal design of CDPRs with such systems. Besides, kinematics, dynamics, and parameters optimization formulas and algorithm are provided to maximize the reachable workspace of CDPRs. Case studies for different configurations are presented and discussed. Numerical results suggest the effectiveness of the aforementioned approaches, and the obtained parameters can also be applied for actual CDPRs design.
翻译：由电缆驱动的平行机器人(CDPRs)在全世界得到广泛的调查和应用;然而,传统配置使它们在达到最大工作空间时受到限制,如电缆的最大允许紧张度等限制。在本文件中,我们引入了辅助平衡来解决这一问题,并侧重于工作空间分析和使用这种系统的CDPR的最佳设计。此外,还提供了动能学、动态和参数优化公式和算法,以最大限度地扩大CDPRs的可达工作空间。介绍和讨论了不同配置的案例研究。数字结果表明上述方法的有效性,获得的参数也可以用于实际的CDPR设计。
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