Cable Driven Parallel Robots: Kinematics, Dynamics and Control

Cable-driven robots are a class of parallel robots in which the rigid links are replaced by cables. Using cables instead of rigid links in parallel robots makes them a suitable choice to remedy some of the traditional shortcoming of the conventional robots. However، this introduces new challenges in the study of cable-driven robots. This paper presents a survey of cable-driven robots and addresses numerous challenging open problems in this field. The paper consists of an overview of both applications and theoretical issues of cable-driven robots such as workspace، dynamics and control، and furthermore some open challenging issues in this field of research.