Performance Simulation and Energetic Analysis of TBot High-Speed Cable-Driven Parallel Robot

Compared with serial robots, parallel robots have the advantages of high stiffness and good dynamics. By replacing the rigid limbs with cables, the cable-driven parallel robot (CDPR) is greatly simplified in structure and lightweight. We designed a high-speed CDPR tensioned by the passive rod and spring, named TBot. The robot can realize the SCARA movement as the classical Delta parallel robot. Comparison analysis of TBot and Delta is carried out to reveal the natures of the CDPRs and rigid parallel robots, identify the key issues, and promote industrial applications. Performance of both robots is analyzed with simulation under a typical Adept Motion trajectory. Results illustrate that TBot has advantages of low cost, low inertia, low energy consumption, and adjustable workspace and has great application potential. Energy consumption of TBot is discussed, and the trajectory planning is studied with the genetic algorithm to further reduce the energy consumption, considering the influence of the passive spring. Finally, on the basis of 30% less energy consumption for the Adept Motion than Delta, extra 14.3% energy is saved through the trajectory planning of TBot.

Automated summary

Compared with serial robots, cable-driven parallel robots (CDPRs) have the advantages of high stiffness and good dynamics. This article introduces a high-speed CDPR called TBot, which is tensioned by passive rods and springs. The characteristics and key issues of CDPRs are analyzed through a comparison between TBot and Delta robots. The energy consumption and trajectory planning of TBot are also discussed.