Dynamic Trajectory Planning of Planar Two-dof Redundantly Actuated Cable-suspended Parallel Robots

This paper proposes a dynamic trajectory planning approach for planar two-dof redundantly actuated cablesuspended parallel mechanisms. In the recent literature, the global dynamic trajectory planning problem of cable-suspended mechanisms was addressed and some of the characteristic properties of such robots were revealed. In this paper, actuation redundancy is introduced and the dynamic trajectory planning is addressed using straight line periodic trajectories and the application of the antipodal theorem. The results obtained show that introducing actuation redundancy increases the dynamic capabilities of the robots. Special frequencies are revealed that are similar to those encountered with non-redundant mechanisms. Additionally, an alternative architecture is proposed to deal with cable interferences and it is shown that the novel architecture leads to improved dynamic capabilities when compared to the original architecture.