Mathematical Modeling of Eight-Cable-Driven Parallel Robot

Abstract

A mathematical model of a parallel eight-cable-driven robot for use in the mobile construction complex is proposed. The dynamic loads on the cable system are studied. Deviations of the mobile platform of the robot are estimated by linear and angular coordinates. A method is proposed for including activation functions in the mathematical model of the cable system, which provides a representation of the structural nonlinearity of the cable-driven robot.