Research Progress on the Static Stability and Motion Stability for Cable-Driven Parallel Robots

Cable-driven parallel robot (CDPR for short), as one particular kind of parallel robots, is driving through flexible cables replacement of rigid links. It has been widely used due to its unique advantages at present. Cables can only be pulled and cannot be pushed, CDPRs are more prone to instability relative to rigid link parallel robots. Hence, for the CDPRs, stability is the key parameter of performance evaluation. And more theoretical researches on stability are needed to enhance the performance. Therefore, the theoretical researches on their stability is reviewed and summarized here. Their applications and research work in various fields are illustrated firstly. Then, the research progress of the static stability is analyzed in detail. Furthermore, the development of motion stability is summarized. The analysis results show that establishing a quantitative and reliable stability evaluating indicator for the CDPRs is necessary. This review will be helpful in the future studies for performance analysis of CDPRs.