This article proposes a generalized type of cable-driven parallel robot with deformable frames (D-CDPRs). The class of D-CDPRs allows: first, inevitable deformation of traditional rigid frame CDPRs to be considered; and second, new possibilities to develop CDPRs with lightweight frames that would deform. Comparatively, such lightweight CDPRs are easier to set up and largely reduce the cost of material and construction. However, the analysis and control of D-CDPRs are challenging as existing works usually assume the CDPR frame is rigid, such that the cable exit points on the frame are known and fixed. If the modeling errors induced by the deformable frame are not addressed appropriately, the control performance of D-CDPRs will be inaccurate and even unstable. To tackle this problem, novel modeling, analysis, and control approaches are proposed accordingly for D-CDPRs. Using the Euler–Bernoulli beam equations to develop a D-CDPR model, the workspace analysis is proposed and explored. Furthermore, the model-based feedforward length (MBFL) controller is proposed, where it is shown that cable length can be used to execute the tension control for D-CDPRs. Finally, the proposed work is validated in both simulation and hardware experiments.

中文翻译：

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可变形开放式框架电缆驱动并联机器人：建模、分析和控制


本文提出了一种通用型具有可变形框架的电缆驱动并联机器人（D-CDPR）。 D-CDPR的类别允许：首先，要考虑传统刚性框架CDPR不可避免的变形；其次，开发具有可变形轻质框架的 CDPR 的新可能性。相比之下，这种轻质 CDPR 更容易安装，并且大大降低了材料和施工成本。然而，D-CDPR 的分析和控制具有挑战性，因为现有的工作通常假设 CDPR 框架是刚性的，使得框架上的电缆出口点是已知和固定的。如果不适当解决由可变形框架引起的建模误差，D-CDPR的控制性能将不准确甚至不稳定。为了解决这个问题，针对 D-CDPR 提出了相应的新颖的建模、分析和控制方法。使用欧拉-伯努利梁方程开发 D-CDPR 模型，提出并探索了工作空间分析。此外，还提出了基于模型的前馈长度（MBFL）控制器，其中表明电缆长度可用于执行 D-CDPR 的张力控制。最后，所提出的工作在仿真和硬件实验中得到了验证。