Kinematics of a Six Degrees of Freedom Cable-driven Parallel Mechanism with Eight Cables

Aiming at the difficult problem of solving the positive solution of the pose of the cable-driven parallel robot, a numerical algorithm for solving the real-time positive solution of the redundant constrained cable-driven parallel mechanism is proposed. Firstly, the motion model and mathematical model of the eight-cable-driven parallel robot are established, then the cable length is calculated by establishing the kinematic inverse equation according to the principle of vector closure. The nonlinear forward solution equation system is deduced through the inverse solution equation, and the forward solution of the pose is calculated by using the genetic algorithm. Assuming that the motion trajectory of the central actuator is a circular curve, the simulation experiment proves that the algorithm can complete the accurate calculation of the forward solution of the pose. According to the experimental results, it can be proved that the algorithm can meet the requirements of solving the forward solution of the cable-driven parallel mechanism.