Reconfiguration and Performance Evaluation of TBot Cable-Driven Parallel Robot

Cable-driven parallel robots (CDPRs) are easy to implement modular and reconfigurable design, which effectively meets the requirements of flexible production. To clarify the influence of reconfiguration on the performance of the TBot robot, which is a modular designed high-speed CDPR designed in the preliminary research, analysis method and indexes for the force output and moment constraint performance of CDPRs with co-driven parallel cables are proposed. Influence of typical parameters on the omnidirectional and directional performance of TBot are discussed to provide guidance for reconfiguration. Performances of two typical TBots are compared and analyzed to show the influence of reconfiguration on the performance distribution. The analysis results provide a reconfiguration range for TBot to maintain acceptable omnidirectional performance. And the directional performance remains good with slender base layout.