Optimal Design of a High-Speed Pick-and-Place Cable-Driven Parallel Robot

摘要

The booming industrial demand has resulted in high-speed pick-and-place robots receiving increased attention from industry and academia. High-speed rigid parallel robots that comprise active pendulums and passive parallelograms limit high efficiency because of their complex structure and high cost. The cable-driven parallel robot (CDPR), which comprises parallel cables and tension branch, offers a promising new method. This study develops an optimal design of a CDPR with proposed novel transmission indices, which is normalized finite, dimensionally homogeneous, frame-free, and intuitive. The optimized result is verified with a numerical simulation. Given the optimized parameters, the vertical and physical prototypes of the CDPR are provided by considering the industrial application. The performance indices and optimal design metrology of this study can be further adopted in the optimal design of other CDPRs.