Dynamic Modeling and Cable Tension Optimization of a Redundantly Constrained Cable-Driven Parallel Robot

To address the problems of cable slackness and non-smooth cable-tension variation curves during the motion of an antagonistic cable-driven parallel robot (CDPR), this paper focuses on a three-degree-of-freedom (DOF) redundantly constrained CDPR. First, an inverse kinematics model of the robot is established using the vector closed-loop principle. Second, a dynamics model of the robot is established using the Newton–Euler method. Linear programming, quadratic programming, and nonlinear programming are respectively adopted to optimize the cable tensions. Through numerical simulation and comparative analysis, the nonlinear programming method, which produces the smallest cable tension fluctuations and the smoothest cable tension variation curves, is selected as the optimal approach among the three tested methods. Finally, numerical simulations and experiments verify the correctness of the inverse kinematic and dynamic models of the robot, as well as the effectiveness of the proposed cable tension optimization method. The results provide a theoretical reference for dynamic modeling and cable tension optimization of similar redundantly constrained CDPRs.