Geometric Configuration Optimization of 8-Cable 6-Degree-of-Freedom Cable-Driven Parallel Mechanism

Abstract This paper presents a Multi-Index Collaborative Screening-based Optimization Method (MICSOM) for the geometric configuration optimization of 8-cable 6-DOF cable-driven parallel mechanisms (CDPMs). The method consists of two stages: the optimization of the cable connection method and the compactness optimization of frame geometric dimensions. In stage I, a global enumeration approach is used to identify the candidate cable connection method that satisfies static interference-avoidance and point set quantity constraints. A multi-objective evaluation coordinated function is constructed based on evaluation indices, including safe cable distance, cable tension quality, stiffness, wrench-feasible workspace, directional wrench output capability, and directional wrench output range, to select the optimal cable connection method. In the stage II, an improved PSO algorithm is applied to maximize the workspace occupancy ratio. A penalty function and dynamic inertia weight strategy are incorporated to optimize the spatial arrangement of frame anchor points and reduce the overall structural volume. Numerical experiments demonstrate that MICSOM effectively improves the kinematic performance, load-bearing capacity, and compactness of CDPMs, offering a valuable framework for the design of 8-cable 6-degree-of-freedom (DOF) CDPMs in complex task environments.