Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator

Table 1

Parameters of the HDCPM.

System parameters	Value
Mass of the end-effector 𝑚	20 kg
Acceleration due to gravity 𝑔	9.81 m/s^2
Height of the cable tower rack ℎ	1 m
Side length of four towers distributed in rectangle 𝑎	1 m
Side length of four towers distributed in rectangle 𝑏	1 m
Length of the cable 𝑠	2.3 m
Length of the EO 𝑝	1 m
Length of the Link AB 𝑙^′1	0.2 m
Length of the Link BC 𝑙^′2	0.5 m
Length of the Link CD 𝑙^′3	0.5 m
Length of the Link ED 𝑙^′4	0.28 m
Length of the Link AE 𝑙^′5	0.51 m
Density of the Links	7.85×10^−3 kg/m^3
Cross-sectional area of the Links	2×10^−4 m^2