Kinematic analysis of a 5-DOF cable-driven robot based on Delta robot and tensegrity joint

The conventional Delta robot has a simple structure, high speed, and high motion accuracy, but it cannot meet the problem of robots with angular requirements because it has only three translational degrees of freedom. The tensegrity structure is composed of a series of discontinuous compression units and continuous tension units, which can form a lightweight and high stiffness structure by connecting independent rigid elements with elastic cables due to its light weight and flexible motion. Combining the Delta robot and the characteristics of the tensegrity structure, we design a 5- DOF robot and analyze its inverse kinematics.