Considering Pulley Workspace Optimization Method to Decrease Kinematics Complexity for Underground Mining Cable-Driven Parallel Robot

This research develops an underground mining cable-driven parallel robot (UMCDPR) for satisfying the task requirements of hoisting hydraulic supports underground. However, the swivel pulley with a time-varying structure in UMCDPR increases the kinematic complexity of the end-effector and poses challenges for controller design. To address this issue, the research proposes a correction coefficient to optimize the workspace of UMCDPR. Firstly, this study introduces the basic structure and working principle of UMCDPR. Secondly, a correction coefficient is proposed to simplify the kinematic model of the pulleys. Finally, combining the correction coefficient, the workspace of UMCDPR is optimized, and it is verified that the influence of the swivel pulley on the end-effector is only 11.7