Modeling of variable length Cable Driven Parallel Robot

A steady-state dynamic model for a cable in air is put forward by using some tensor relations. For the dynamic motion of a long-span Cable Driven Parallel Robot (CDPR) system, a driven cable deployment and retrieval mathematical model of CDPR is developed by employing lumped mass method. The boundary condition of cable and initial values of equations is founded, The partial differential governing equation of each cable is thus transformed into a set of ordinary differential equations, which can be solved by adaptive Runge-Kutta algorithm. Simulation examples verify the effectiveness of the mathematical model of variable length CDPR.