Analysis and Evaluation of CDPR Cable Sagging Based on ANFIS

Table 1

Specification of the cable robot.

Specification
Degree of freedom	6 (3 rotations, 3 prismatic)
Number of cables	8
Fixed frame size (m)	6 × 6 × 3
End effector size (m)	0.4 × 0.4 × 0.6
End effector load (kg)	120
Workspace L x W x H (m)	5 × 5 × 2.5
Linear density of cable (kg/m)	0.1543
Diameter of cables (mm)	5