Modeling of a Cable-driven Parallel Mechanism for Spatial Force-position Loading and Decoupled Measurement

doi:10.3901/JME.260689

Abstract

Abstract: To address the challenges of precise spatial constant-vector force loading and decoupled measurement, a cable-driven parallel mechanism model is established to realize spatial force-position loading with rapid, synchronous, and accurate measurement. A forward kinematic solution and calibration method based on force-position coupling constraints is proposed. The forward solution method theoretically eliminates the influence of cable length errors during the solution process. A geometric parameter error identification model is developed using the total differential method, clarifying the mapping relationship between structural parameter errors and pose errors of the mechanism, thereby enabling identifiable structural parameter errors to provide a foundation for model correction and structural optimization. The validity and effectiveness of the proposed method and model are verified through calibration experiments and numerical examples. Experimental results demonstrate that the cable-driven parallel mechanism achieves precise spatial constant-vector force loading and decoupled measurement. The proposed methods effectively improve pose accuracy and vector force output precision. This research offers methodological references for forward kinematic solutions and calibration studies of cable-driven parallel mechanisms, while providing a theoretical basis for their extended applications in vector force loading fields.

Key words: cable driven parallel mechanism, force-pose coupling, forward kinematics, pose calibration, vector force

CLC Number:

TG156

LIU Jiaxi, WANG Zhi, WANG Delun. Modeling of a Cable-driven Parallel Mechanism for Spatial Force-position Loading and Decoupled Measurement[J]. Journal of Mechanical Engineering, 2026, 62(13): 41-54.

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URL: http://www.cjmenet.com.cn/EN/10.3901/JME.260689

http://www.cjmenet.com.cn/EN/Y2026/V62/I13/41

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