An analytic iterative method for tension distribution of cable-driven robots with a variable objective point

This article delves into the complexities of tension distribution in cable-driven robots (CDRs), highlighting the advantages and inherent challenges of using cables as actuators. It introduces an analytic iterative method based on a 2-norm objective function with a variable objective point, designed to overcome issues like tension discontinuities and the curse of dimensionality. The method ensures continuous tension distribution, predictable computational time, and the ability to find solutions even near the margins of the solution domain. The article compares this method with popular existing methods, such as the Improved Closed-Form Method (ICFM) and the Analytic Center-Based Method (ACBM), demonstrating its superiority through numerical examples. The first example illustrates the limitations of ICFM and ACBM, while the second example simulates a six-DOF CDR with eight cables, showcasing the flexibility and efficiency of the proposed method. The article concludes by emphasizing the method's potential to optimize stiffness and energy consumption in CDRs, making it a valuable tool for advancing the design and control of these robots.