Mathematical Problems in Engineering
Volume 2010 (2010), Article ID 909527, 10 pages
Research Article

Deployment/Retrieval Modeling of Cable-Driven Parallel Robot

1School of Mechano-Electronic Engineering, Xidian University, Xi'an, Shaanxi 710071, China
2School of Mechano-Electronic Engineering, Xi'an University of Technology, Xi'an, Shaanxi 710048, China

Received 31 December 2009; Accepted 27 May 2010

Academic Editor: Angelo Luongo

Copyright © 2010 Q. J. Duan et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A steady-state dynamic model of a cable in air is put forward by using some tensor relations. For the dynamic motion of a long-span Cable-Driven Parallel Robot (CDPR) system, a driven cable deployment and retrieval mathematical model of CDPR is developed by employing lumped mass method. The effects of cable mass are taken into account. The boundary condition of cable and initial values of equations is founded. The partial differential governing equation of each cable is thus transformed into a set of ordinary differential equations, which can be solved by adaptive Runge-Kutta algorithm. Simulation examples verify the effectiveness of the driven cable deployment and retrieval mathematical model of CDPR.