Here, aiming at suspension cable being simplified to a straight line in current study on large-span flexible cable-driven parallel mechanism to cause its workspace being incorrect, considering flexible cable suspension effect, the workspace of the mechanism was studied.Firstly, a catenary suspension model and a parabolic suspension model were established.Comparison between test and simulation showed that under the same external conditions, the suspension length obtained with the parabolic suspension model is closer to test result than that obtained with the catenary suspension model.Based on the parabolic suspension model, static equations of a facade flexible cable-driven parallel mechanism were established, workspace and total power at each point in space considering suspension sag were analyzed.The simulation results showed that compared to the facade flexible cable-driven parallel mechanism under the linear suspension model, the workspace range with tension conditions based on the parabolic suspension model decreases by 12.6%, and the low-energy consumption area during lateral motion of mobile platform is significantly smaller than that during vertical motion.
Key words
catenary model /
cable-driven /
workspace /
power consumption
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