Analysis of Cable-actuated Parallel Robot with Variable Length and Velocity cable

Abstract This paper is concerned with modeling, analysis of cable-actuated robotic manipulators with non-negligible cable mass and velocity. The manipulator architecture is a simplified version adopted from the structure of the Feed cabin to track radio source in 500m aperture spherical radio telescope (FAST), the China design of next generation giant radio telescopes. According to the model, to begin with, the governing dynamic equation of motion of such structure is derived using the principle of virtual work, at the same time the Newton-Euler equation for a varying mass system is employed to the varied length cable. Next, the numerical examples of the system are given. It is showed that the limb with variable length and velocity cable does contribute to the dynamical forces required to a typical trajectory.