Dynamic and Sensitivity Analysis of KNTU CDRPM: A Cable Driven Redundant Parallel Manipulator

KNTU CDRPM is a cable driven redundant parallel manipulator, which is under investigation for possible implementation of large workspace applications. This newly developed manipulators have several advantages compared to the conventional parable mechanisms. In this paper, the governing dynamic equation of motion of such structure is derived using the Newton-Euler formulation. Next, the dynamic equations of the system are used in simulations. It is shown that on the contrary to serial manipulators, dynamic equations of motion of cable-driven parallel manipulators can be only represented implicitly, and only special integration routines can be used for their simulations. In order to verify the accuracy and integrity of the derived dynamic equations, open- and closed-loop simulations for the system is performed and analyzed. Also, the effects of mechanical assembly tolerances on the closed-loop control performance of a cable driven parallel robot are studied in detail, and the sensitivity analysis of the precision in the construction and assembly of the system on the closed-loop behavior of the KNTU CDRPM is performed.