DOI
10.5703/1288284318538
Description
Cable-Driven Parallel Robots (CDPRs) are increasingly used for inspection and maintenance on large curved surfaces where traditional planar anchor layouts fail. This work introduces a unified geodesic–optimization framework for determining optimal anchor configurations that ensure both static feasibility and dynamic efficiency. The method first models curved surfaces using local tangent-plane coordinates to compute cable directions accurately, then evaluates anchor candidates through linear-programming tension optimization. Dynamic simulations along representative motion paths—spiral, circular, and zigzag—quantify total cable energy for ranking feasible configurations. Results show that anchors raised above mid-latitude and symmetrically distributed around the workspace minimize both peak tension and total energy while eliminating singularities. The framework provides practical design guidelines for safe, energy-efficient CDPR deployment on architectural and industrial surfaces such as domes, façades, and cylindrical structures.
Optimal Anchor Placement for Cable-Driven Parallel Robots on Curved Surfaces
Cable-Driven Parallel Robots (CDPRs) are increasingly used for inspection and maintenance on large curved surfaces where traditional planar anchor layouts fail. This work introduces a unified geodesic–optimization framework for determining optimal anchor configurations that ensure both static feasibility and dynamic efficiency. The method first models curved surfaces using local tangent-plane coordinates to compute cable directions accurately, then evaluates anchor candidates through linear-programming tension optimization. Dynamic simulations along representative motion paths—spiral, circular, and zigzag—quantify total cable energy for ranking feasible configurations. Results show that anchors raised above mid-latitude and symmetrically distributed around the workspace minimize both peak tension and total energy while eliminating singularities. The framework provides practical design guidelines for safe, energy-efficient CDPR deployment on architectural and industrial surfaces such as domes, façades, and cylindrical structures.