On Kinetostatics and Workspace Analysis of Multi-platform Cable-Driven Parallel Robots with Unlimited Rotation

  • Thomas ReichenbachEmail author
  • Philipp Tempel
  • Alexander Verl
  • Andreas Pott
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 78)


Cable-driven parallel robots are a special kind of parallel mechanism which use cables instead of rigid prismatic actuators to control a single platform. This paper presents a modeling approach to replace the single platform by multiple platforms. With this approach, it is possible to perform unlimited rotation with cable robots end-effector by relatively positioning these multiple platforms. We show how this class of cable robots can be modeled as multi-body system, where platforms are connected with linkages by using revolute joints. These linkages can be seen as coupling elements. For example, using a crankshaft as coupling element, cable robots can perform novel motions such as unlimited rotation. We find a generic approach describing such multi-platform cable robot systems, after which force distribution and workspace of a case study are analyzed. Finally, we find out that inclusion and total orientation workspace are nonempty, considering joint reaction forces and platform and linkage masses. Furthermore, our modeling approach can be used for spatial multi-platform cable robots with revolute joints.


Cable-driven parallel robot Unlimited rotation Multi-platform Workspace 



This work was supported by the German Research Foundation (DFG-project number: 358142701) at the University of Stuttgart.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Thomas Reichenbach
    • 1
    Email author
  • Philipp Tempel
    • 1
  • Alexander Verl
    • 1
  • Andreas Pott
    • 1
  1. 1.Institute of Control Engineering for Machine Tools and Manufacturing UnitsUniversity of StuttgartStuttgartGermany

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