Reconfiguration of Cable Driven Parallel Robot Based on Mobile Base Position

This paper studies reconfiguration scenarios of cable driven prallel robot with three mobile bases. The position of three mobile bases can be reconfigured to move back-and-forth. Dynamic equilibrium of the robot is initially derived. A fifth-degree polynomial is used to generate trajectory which should be followed by the end-effector. During executing a task, the end-effector may tip over due to high cable tension which leads to the loss of wheel reaction forces. To avoid this problem, a concept of Zero Moment Point is applied to maintain robot stability via mobile base reconfiguration. By changing the mobile base position, cable tension can also be reduced which eventually reduce the posibility of tip over. Computatioal results are provided to show the significant impact of reconfiguration to robot stability. Control design and experiment will be the subject of future research.