Development of a Planar Cable Suspension and Balance System

This study introduces a multi-purpose planar cable suspension and balance system, capable of controlling an end effector across a wide workspace via four cables and measuring external loads through cable tension. Designed using cable-driven parallel robot theory, the system’s performance was evaluated experimentally. Kinematic calibration enhanced motion control, while an artificial neural network improved load measurement performance. The system’s versatility and high precision provide a foundation for future research.This study introduces a multi-purpose planar cable suspension and balance system, capable of controlling an end effector across a wide workspace via four cables and measuring external loads through cable tension. Designed using cable-driven parallel robot theory, the system’s performance was evaluated experimentally. Kinematic calibration enhanced motion control, while an artificial neural network improved load measurement performance. The system’s versatility and high precision provide a foundation for future research.