LAUSR

This paper provides a solution for the problem of uncontrollable modes in planar cable-driven parallel robots. The proposed solution requires the addition of two unbalanced-rotational-inertia actuators to the end-effector. It is demonstrated both analytically and experimentally that by adding two reaction-based unbalanced-rotational-inertia actuators, the end-effector vibrations can be effectively regulated in the three nonplanar directions that are uncontrollable by the in-plane cables. It is shown that the proposed method is simple, effective, and readily applicable to any planar cable-driven parallel robot.