Design model and Control a 2-DOF Cable Driven robot

The stability of the robot is one of the most important factors to ensure safety as well as accuracy when the robot operates for a long time, and there is very little research on this issue especially in the cable-driven robot. Therefore, this bachelor's thesis deals with kinematic analysis and design method of cable tensioning system for 2 degree-of-freedom (DOF) cable robot. Based on the structure of the robot, Jacobian equations and inverse dynamics are also presented. Besides, calculating the problem of cable tension will help the robot improve its performance. This is a mechanism consisting of 2 pulleys, sliders, and springs with a simple structure but still ensures rigidity and flexibility for the robot. Next, the kinetic and dynamic simulation results will be tested based on Matlab-Simulink. The results show the change and influence of the cable tensioning mechanism on the robot's movement on the actual model.