Mechanism and Machine Theory · 2025
Cable-driven parallel robot trajectory generation with optimized orientation considering disturbance rejection
Overview
An analytical disturbance-sensitivity framework supports orientation optimization for a cable-driven parallel robot. The resulting anti-disturbance trajectory generator improves directional stiffness and nozzle tracking in simulations and gust experiments on a six-degree-of-freedom printing prototype.
Citation
Liu, S. and Duan, M., 2025. Cable-driven parallel robot trajectory generation with optimized orientation considering disturbance rejection. Mechanism and Machine Theory, 210, p.106016.