Experiment and Validation of Open-Loop Control on the Simulation of a Cable-Driven Planar Robot for Drawing and Writing Tasks

Abstract

In this paper, we introduce a groundbreaking cable-driven parallel robot meticulously engineered for precision tasks such as drawing and 2D printing, For example, drawing on boards, fabric, or two-dimensional prints for decorations, and so forth. Delving into the specifics of its design, we emphasize key features that optimize its performance and accuracy in executing these creative tasks. Furthermore, we outline a comprehensive set of validation experiments meticulously designed to showcase the robot's capabilities. These experiments rigorously test and validate the efficacy of our chosen open-loop control approach, providing in-depth insights into the remarkable results achieved during this validation process. The obtained results not only underline the potential of this innovative robot but also offer valuable insights for advancing similar applications in the future. This unique robot is built upon an inherently unstable base, a distinctive departure from conventional robotic systems. At the core of its operation, four motors are strategically installed at the ends of the unstable base, each responsible for winding the cable around a pulley to ultimately manipulate the end effector. The work presented in this paper is organized into three main sections. Firstly, the authors provide a comprehensive definition of the cable-driven parallel robot and its intended applications. Secondly, the paper delves into the development of the geometric and kinematic model of the robot, offering insights into the underlying principles governing its motion. Finally, the third section details the simulation of the proposed robot, conducted using Solidworks and LabView software, offering a practical demonstration of the robot's capabilities and performance characteristics. This work represents a significant contribution to the field of cable-driven robotics, with potential applications in diverse domains, from artistic endeavors to precise manufacturing processes.

Received: 9 September 2023 | Revised: 19 October 2023 | Accepted: 28 October 2023

Conflicts of Interest

The authors declare that they have no conflicts of interest to this work.