Trajectory Planning of a Planar Cable-Driven Robot for Industrial Detection

This paper presents a planar two-degree-of-freedom cable-driven robot for detecting the surface defect of the boiler pipes. The mechanism is first described and inverse solution laws of position, velocity and acceleration are studied based on the dynamic model of the cable-driven robot. A linear trajectory planning approach is developed, which is based on the position discrete differential and trapezoidal speed planning. An example trajectory is presented, then simulating and analyzing the change law of the length and velocity of the driving cable based on the point-to-point linear trajectory planning algorithm. The research shows that the length of the cable is continuously changed, which ensures that the end-effector of cable-driven robot can run smoothly, continuously, and accurately during the industrial detection.