First Experimental Results of Load Carrying Capacity for a Planar Cable-suspended Manipulator

In this paper a performance analysis is presented for a cable-suspended parallel manipulator. Experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. The load-carrying capacity during a given trajectory is obtained. This computational technique is tested on a typical planar cable suspended manipulator. The experiment is performed to compare the calculated maximum load with the actual carrying payload on the path chosen for the comparison.