The integrated elasto-plastic cable modeling for cable driven parallel robots(CDPRs)

Cable driven parallel robots (CDPRs) have widely used in many applications because of a lot of advantages such as high accuracy, low inertia and large workspace. Especially, the CDPR have used the Dyneema polymer cable instead of the steel cable for low weight of system. In this paper, the integrated elasto-plastic cable characteristic model for CDPR was proposed and verified by comparing with experimental data. In conclusion, according to the result, the simulation was in a good agreement with experimental data.