Dual-space configuration synthesis method for rigid-flexible coupled cable-driven parallel mechanisms

As wave motion compensation devices, rigid-flexible coupled cable-driven parallel mechanisms composed of cables and rigid rods can ensure the safety of cargo transportation. Therefore, a dual-space configuration synthesis method for rigid-flexible coupled cable-driven parallel mechanisms is proposed to synthesise configurations with high load-carrying and anti-sway functions. Anti-sway substructures are proposed to reveal the essence of rigid-flexible coupled structures with anti-sway functions. An equivalent rigid-body method and branch distribution constraints are presented to construct the anti-sway substructures and offer iterative conditions for the dual-space configuration synthesis method. Then, thirty-two types of configurations for rigid-flexible coupled cable-driven parallel mechanisms are synthesised through the dual-space configuration synthesis method. Finally, compensation performance evaluation and experimental results for wave motion compensation devices verify the feasibility of the dual-space configuration synthesis method.