Kinematic and Static Analysis of a Cable-Driven Parallel Robot with a Flexible Link Spine

In this paper, kinematics and statics of a novel cable-driven flexible parallel robot mimicking human neck are analyzed. The base and moving platform of the parallel robot are connected by three cables and a flexible link. The flexible link serves as cervical spine to support and facilitate the motion of moving platform. The three cables serve as the muscles around human neck to drive the robot. Due to both ends of the flexible link are fixed with the base and moving platform, the kinematics of the parallel robot cannot be solved directly. By assuming the bending shape of the flexible link to be circular, the kinematics can be solved geometrically. To calculate the driving force acting in the three cables, the concept of rotation axis in conjunction with the Product-Of-Exponentials ( POE) formula and the principle of virtual work are employed to formulate the static model of the parallel robot. Finally, simulation results demonstrated the correctness and the feasibility of kinematic and static analysis of the parallel robot.