cabledriven

Cable-driven refers to actuation systems that move a payload by controlling tensions in several cables anchored at fixed points. Each cable runs from a winch or actuator to the moving platform, and the end effector’s position and orientation are determined by the set of cable lengths. Such systems are used in robotics research and in large-scale stage and construction applications.

In planar or spatial configurations, the platform is suspended or tethered by multiple cables. The actuators regulate cable length to steer the platform; the system’s kinematics map desired pose to required cable lengths (inverse kinematics) and vice versa (forward kinematics). Because cables are elastic and friction exists in pulleys, the dynamics are strongly nonlinear, and control must manage cable tension to avoid slack. Cable routing, pulley friction, and gravity influence performance, requiring careful modeling and calibration. Controllers often incorporate optimization to distribute tension, and sensors provide feedback on position and sometimes cable tension.

Advantages include a high strength-to-weight ratio, a potentially large workspace with a relatively lightweight mobile platform, and the ability to place actuators at fixed locations away from the payload. Additional cables can increase stiffness and load capacity while reducing moving mass. Drawbacks include complex control, potential singular configurations, cable wear and slack, and the need for robust tension management and fault handling.

Applications range from cable-driven parallel robots in research to theater rigging, crane and automated construction systems, and large-scale positioning tasks for filming or exploration. Ongoing research aims to improve modeling, control strategies, and sensor fusion to cope with elasticity, friction, and disturbances.