Kinematic and dynamic modeling and workspace analysis of a suspended cable-driven parallel robot for Schönflies motions

In recent years, cable-driven parallel robots (CDPRs) have drawn more and more attention due to the properties of large workspace, large payload capacity, and ease of reconfiguration. In this paper, we present a kinematic and dynamic modeling and workspace analysis for a novel suspended CDPR which generates Schönflies motions. Firstly, the architecture of the robot is introduced, and
the inverse and forward kinematic problems of the robot are solved through a geometrical approach. Then, the dynamic equation of the robot is derived by separately considering the moving platform and the drive trains. Based on the dynamic equation, the dynamic feasible workspace of the robot is determined under different values of accelerations. Finally, experiments are performed on a prototype of the robot to demonstrate the correctness of the derived models and workspace.