Research Article

International Journal of Advanced

Robotic Systems
March-April 2023: 1–10
Simulation of suspended cable-driven ª The Author(s) 2023
Article reuse guidelines:
parallel robot on SimulationX sagepub.com/journals-permissions
DOI: 10.1177/17298806231161463
journals.sagepub.com/home/arx

Assylbek Jomartov , Amandyk Tuleshov, Aziz Kamal

and Azizbek Abduraimov

Abstract
Currently, research is being carried out on a new type of parallel robots, such as cable-driven parallel robot. The cable-
driven parallel robot are parallel robots with flexible (cables), with a large workspace, with high speeds and accelerations
of the end effector. In the cable-driven parallel robot, cables can only work in tension, and cable-driven parallel robot lose
their performance when they are compressed. This feature severely limits the development and application of cable-
driven parallel robots and requires further development of cable-driven parallel robot modeling on various software
systems. Currently, Adams multibody dynamics software is widely used to create and test virtual prototypes of mechanical
systems. But for cable-driven parallel robot modeling, the Adams program is quite complex and expensive to use. In this
article, the simulation of the cable-driven parallel robot is carried out on the SimulationX software. Unlike other software
packages, SimulationX is more accessible and cheaper and is well suited for cable-driven parallel robot simulation. Cable-
driven parallel robot modeling on SimulationX allows you to identify the main design flaws even before its prototype is
made. A model on the SimulationX software of a suspended cable-driven parallel robot with a point mass end effector,
taking into account the elastic-dissipative properties of cables, was developed. The prototype of suspended cable-driven
parallel robot with a point mass end effector was manufactured. Experimental researches of the prototype of the sus-
pended cable-driven parallel robot with a point mass end effector confirmed the correctness of the application of the
model on SimulationX for practical calculations.

Keywords
Cable-driven parallel robot, suspended, end effector, dynamics, SimulationX, prototype

Date received: 26 December 2022; accepted: 16 February 2023

Topic: Robotics Software Design and Engineering

Topic Editor: David Portugal
Associate Editor: Charles Lesire

Introduction
The cable-driven parallel robot (CDPR) is a special class of
a parallel robot, in which the end effector (EE) is supported
in parallel by m cables, which are driven by n actuators.
The position and orientation of the EE of the CDPR is
controlled by flexible cables, and not by rigid links, in
contrast to conventional parallel robots. The CDPR have
the advantages of conventional parallel robots and have a
higher payload to weight ratio. The CDPR have lower iner-
tial characteristics, which provides high speed and accel-
eration of the EE. Due to the flexibility of the cables, CDPR
has the largest workspace among existing robots. The main
disadvantage of the CDPR is that the cables can be driven
by positive tension in order to keep the straight-line shape
Institute of Mechanics and Engineering named after academician U A
Dzholdasbekova, Almaty, Kazakhstan
Corresponding author:
Assylbek Jomartov, Institute of Mechanics and Engineering named after
academician U A Dzholdasbekova, 050010 Almaty, Kazakhstan.
Email: assylbekjomartov@gmail.com; legsert@mail.ru

Creative Commons CC BY: This article is distributed under the terms of the Creative Commons Attribution 4.0 License
(https://creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without
further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/
open-access-at-sage).
2 International Journal of Advanced Robotic Systems
Figure 1. The CDPR Robocrane (NIST).
Figure 2. Scheme of a CDPR with m cables.
rather than negative compression. One of the first CDPR
was Robocrane is shown in Figure 1, which was developed
in 1989 in the USA by the National Institute of Standards
and Technology (NIST).1,2 CDPR Robocrane was intended
for handling cargo in ports, during the construction of
bridges, and so on. CDPR Robocrane is a Gough-Stuart
platform suspended on six cables. Here, cables are used
instead of hydraulic cylinders, and gravity is an implicit
additional drive.
A typical CDPR consists of three parts, including a fixed
frame, an EE, which is connected via m cables to the fixed
frame. The length of the cables is changed by winches,
which are driven by servomotors mounted on a fixed frame,
as shown in Figure 2.3,4
The CDPR with m—the number of cables and n—the
degree of freedom (DOF) can be classified5 as an under-
constrained m < n þ 1; a completely constrained m ¼ n þ 1;
a redundantly constrained m > n þ 1. In addition to the
above classification, the CDPR are divided into two
types—suspended and not suspended, depending on the
location of the cables. If in a CDPR all drive cables are
above the EE, and gravity acts as a virtual cable to maintain
balance, then such the EE is called suspended.1,6–8 If in the
CDPR at least one drive cable is below the EE, then such a
CDPR is called not suspended.9,10
In suspended CDPR, the cables are located above the
EE, and the payload is distributed between the cables, so
these CDPR have a large load capacity. A feature of sus-
pended CDPR is the lower probability that the cables will
collide with other environmental objects, due to the fact
that all the cables are above the EE. The structure of the
Figure 3. The suspended CDPR with a point-mass EE for
transporting.
suspended CDPR is well suited for lifting and moving var-
ious loads. The disadvantages of suspended CDPR are the
low rigidity in the vertical direction. Suspended CDPRs can
get out of control under variable external forces, especially
during the unloading operation.
Of particular interest are the suspended CDPR with a
point-mass EE in which all cables are attached to a single
point on the EE and can vary in length to control the posi-
tion of the EE.11,12 Typically, the EE is modeled as a con-
centrated mass located at the intersection point of the
cables. Although in many cases the center of mass of the
EE is not really located at the point of intersection of
the cables, the distance of this displacement is considered
small compared to the dimensions of the CDPR. The sus-
pended CDPR with a point-mass EE is well suited for
operations similar to those of construction cranes when
lifting and moving loads. However, a suspended CDPR
with a point-mass EE has significantly less payload fluc-
tuation than a crane when performing the same operation
due to its parallel design. The suspended CDPR with a
point-mass EE for transporting and placing heavy objects
on construction sites is developed in the work,13 as shown
in Figure 3.
In Figure 3, four cables are connected at one point, form-
ing an EE, and an object is suspended at this point. The
workspace is located between four columns. The rigidity
of a CDPR in the horizontal plane is higher than that of an
overhead crane, which is beneficial for precise positioning.
In this article, the suspended CDPR with a point-mass
EE is modeled on the SimulationX software, taking into
account the elastic-dissipative properties of cables. After
the simulation, it is planned to make a prototype of the
suspended CDPR with a point-mass EE and check its com-
pliance with the developed model on the SimulationX soft-
ware. The novelty of the article lies in the simulation of the
CDPR on a simple and cheap SimulationX software to
evaluate the parameters of the prototype of the CDPR
before its will be made.
A suspended CDPR with a point-mass EE
Let us consider a suspended CDPR with a point-mass EE
with 3-DOF and four drive cables, as shown in Figure 4. A
Jomartov et al. 3

Table 1. Coordinates of the vector pi.

Cable i Vector pi

x y z
1 a/2 b/2 h
2 a/2 b/2 h
3 a/2 b/2 h
4 a/2 b/2 h

Figure 4. The suspended CDPR with a point-mass EE.

is set in the middle of the rectangular base of the CDPR
frame, and the EE has position coordinates Pðx; y; zÞ.The
distance between each vertex A, B, C, D of the cable sup-
port posts and the EE is Li ; i ¼ 1; 2; 3; 4. The coordi-
nates of the support vertex points are as follows
Aða=2; b=2; hÞ; Bða=2; b=2; hÞ; Cða=2; b=2; hÞ;
Dða=2; b=2; hÞ

The four cable support racks are of the same height

Figure 5. The kinematic scheme of the suspended CDPR with a
point-mass EE.
feature of this CDPR configuration is that in order to main-
tain equilibrium, it is necessary to take into account gravity.
In this configuration of the suspended CDPR, the EE is
considered as a point-mass, which has only translational
degrees of freedom. This assumption is correct since the
dimensions of the EE are much smaller than the workspace
of the CDPR. As can be seen from Figure 4, the suspended
CDPR with a point-mass EE consists of a metal frame in
the form of a rectangular parallelepiped 1, near the base of
each vertical rack there are winch with servomotor 4
designed for winding (or unwinding) cables 2. The other
ends of the cables 2 passing through the pulleys 5 are
connected to the EE 3. The direction of rotation, as well
as the speed of rotation of the winches with servomotors 4,
is set by the control unit 6. Winches with servomotors 4
winding (or unwinding) cables 2 and change their length.
When changing the lengths of the cables 2, the position of
the EE 3 changes in the workspace of the CDPR, which is
limited by the frame 1. In the design suspended CDPR with
a point-mass EE, shown in Figure 4, the EE has three
translational DOF.
and are placed in a rectangle on the ground, if deformation
is not taken into account. To simplify the model, the
cables are considered as a massless body without deforma-
tion, and it is assumed that the cables are straight and
stretched.
In Figure 5, the following notations are introduced: pi—
position vectors of points A, B, C, D attached to the fixed
frame relative to the global coordinate system O(XYZ),
Li—cable length vector relative to the global coordinate
system O(XYZ).
The coordinates of the vector pi are given in Table 1
The equations for the inverse kinematic problem for the
indicated kinematic scheme of the CDPR are presented as
distances from the point P with the current coordinates x, y,
z to the vertices of the quadrilateral A, B, C, D, we obtain
from Figure 5. Applying the method of closed vector con-
tours (shown in Figure 5) we obtain the following system of
constraints
pi  r  Li ¼ 0; i ¼ 1; : :; 4 (1)
where the vector r ¼ ½x; y; z  T 2 R 3 is the Cartesian posi-
tion of the EE, relative to the global coordinate system
O(XYZ). From (1) it is possible to determine the length
vector of cables Li
Li ¼ pi  r; i ¼ 1; : :; 4 (2)
The scalar cable length is determined by the formula

Li ¼ kpi  rk; i ¼ 1; : :; 4 (3)

Forward and inverse kinematics of a
suspended CDPR with a point-mass EE The unit vector ui along the cable has the form
The kinematic scheme of the suspended CDPR with a Li
point-mass EE (shown in Figure 4) is shown in Figure 5. ui ¼ (4)
kLi k2
The following designations for the dimensions of the fixed
rectangular CDPR frame are introduced: a—width, b— The unit vector ui , by convention, is directed from the
length, h—height. The global coordinate system O(XYZ) EE to the fixed base, which means that the positive forces
4 International Journal of Advanced Robotic Systems

are directed in the direction of decreasing the value of the multiple bodies MSC ADAMS has become widespread.21
length vectors Li, that is, ropes are shortened. To solve The work22 carried out the simulation of the CDPR on the
the forward kinematic problem of the position of the CDPR, software for modeling the dynamics of multiple bodies
from (3) MSC ADAMS. The EE and frame structure were modeled
8 0 12 0 12 as rigid bodies. The cables were modeled as linear springs
>
> of low mass. However, the article does not show the CDPR
>
> a b
>
> L 21 ¼ @x þ A þ @y þ A þ ðz  hÞ 2 model on MSC ADAMS, it does not explain how the model
>
> 2 2
>
> was compiled, only the simulation results are given. The
>
> 0 1 0 12
>
> 2
work23 shows the model Incompletely Restrained Cable-
>
>
>
> a b
>
> L 22 ¼ @x  A þ @y þ A þ ðz  hÞ 2 Suspended Swinging System (IRCSWs2) on MSC
>
< 2 2 ADAMS. This article does not show the stages of compil-
0 1 0 12 (5) ing a CDPR model on MSC ADAMS, and it is not clear
>
>
2
>
> how the elastic-dissipative parameters of cables were taken
> L 2 ¼ @x  aA þ @y  bA þ ðz  hÞ 2
>
>
> 3
2 2 into account in the simulation. In the work of Wang et al.,24
>
>
>
> dynamic modeling of hoisting ropes was carried out using
>
> 0 12 0 12
>
> MSC ADAMS. The model is based on the assumption that
>
> a b
> L 2 ¼ @x þ A þ @y  A þ ðz  hÞ 2
> there is no relative slip between the rope and the drum; the
>
: 4 2 2
associated tensile and torsional stiffness are neglected; the
rope is wound onto the drum exactly in a spiral. This model
Next, from the system of four equations (5), you need to is well designed and shows all the steps of its compilation
choose three of them and directly calculate the position of on MSC ADAMS, but it is not suitable for CDPR simula-
the EE. Let’s choose the equations related to the first, sec- tion. In the work of Rodriguez-Barroso et al.,25 the CDPR
ond and third cables, then from equation (5) we get the was simulated using the MSC ADAMS multibody dynamic
coordinates of the EE software. This model takes into account the masses of the
8 cables, the friction forces and the elasticity of the cables,
>
> L22  L21
>
> x ¼ but it does not show the stages of the simulation the
>
> 2a
>
> winches and servomotors of the CDPR.
>
>
>
> L  L21
2
It can be seen from the analysis of works on the model-
< y¼ 3
2b (6) ing of the CDPR on MSC ADAMS that in many works they
>
> v ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ffi refer to the applications of MSC ADAMS without a
>
> u 0 12 0 12
>
> u detailed description and compilation of models of the
>
> u a a
>
> z ¼ h+tL21  @x  A  @y  A CDPR. Despite the fact that Adams is the most powerful
>
>
: 2 2 and advanced software, the compilation of CDPR models is
a time-consuming creative process. The use of MSC
where z has two solutions and, in accordance with the fea- ADAMS is justified for the study of existing CDPR, with
tures of the workspace of the suspended CDPR with a the aim of further research and optimization of its work. At
point-mass EE, the solution with a negative sign is correct. the same time, at the stage of initial design of a CDPR, it is
It should be noted that in (5) the equation for determining quite sufficient to use simple and cheap software for its
the length of the fourth cable is not used. The position simulation. We have analyzed software: MATLAB/Simu-
coordinates of the EE are determined using the first three link, MapleSim, Dymola, Gazebo, CASPR, WireX, Simu-
equations of system (4). lationX. These programs are cheaper than Adams and they
can be used to simulate CDPR at the initial design stage. In
our work, for the simulation of CDPR, we use the Simula-
Model of a suspended CDPR with
tionX software.26 Compared to Adams, MATLAB/Simu-
a point-mass EE on SimulationX link, MapleSim, Dymola, Gazebo, CASPR, WireX, the
Due to the fact that CDPR is a fairly new type of parallel SimulationX software is cheaper and more accessible to
robots with flexible links, the need for its modeling is an use. The reason for choosing SimulationX for CDPR simu-
important task. CDPR simulation allows engineers to test lation is the presence of an advanced Belt Library which
and optimize designs before prototyping. Currently, contains: belt models, pulley and drum models, belt drives
CDPRs are often modeled using following software: models and the authors have experience with the Simula-
MATLAB/Simulink,14 MapleSim,15 Dymola,16 Gazebo tionX program.27
simulator,17 CoppeliaSim simulator,18 CASPR-software The SimulationX software allows you to build CDPR
for CDPR analysis and simulation,19 WireX software for models from intuitive objects of mechanics: (mass, force,
analysis and design of CDPR.20 moment, spring, damper, friction, cable, etc.), pneumatics
From the analysis of publications on the simulation of and hydraulics (pneumatic cylinder, valve, throttle, etc.),
CDPR, the use of software for modeling the dynamics of mechanical engineering and electro-mechanics (motors,
Jomartov et al.
Figure 6. Simulation (a) the model of suspended CDPR with a point-mass EE on the SimulationX and (b) 3D view of the CDPR
SimulationX model.
Figure 7. (a) Elements of the SimulationX library, (b) discretization of the element Cable Spring.
clutches, gear, and other transmissions) and control (mea-
suring sensors, control signals, etc.).
We research the dynamics of the CDPR is shown in
Figure 4. On Figure 6(a) shows the model of suspended
CDPR with a point-mass EE on the SimulationX software
and on Figure 6(b) shows 3D-view of the CDPR Simula-
tionX model to visualize the motions.
Elements of the SimulationX library, which were used
in compiling the CDPR model, are shown in Figure 7(a).
List of symbols and description of elements of the Simu-
lationX library (shown in Figure 7(a)):
1. Sphere. This element models the EE in the form of a
sphere. Here the mass, center of mass, and inertia
tensor are modeled.
2. Cable Preset (ideal Drum). This element models the
CDPR winch as an ideal massless drum that can
wind or unwind an endless cable.
3. Pulley with Cable Section. The element models a
round pulley with a cable contact section, for use in
a three-dimensional cable drive. The pulley can be
free (i.e. in a system of blocks and hoists) or
attached to the frame.
5
4. Cable Spring. The element is a free section or strand
of cable for analysis of longitudinal vibrations of
the cable. It has internal discreteness for masses and
damper springs, as shown in Figure 7(b). The ele-
ment calculates the stiffness and damping force act-
ing on the line between points P1 and P2. The
direction of the element is the line connecting P1
and P2. The mass of the cable does not affect the
Cable Spring element, but is taken into account by
the connected pulleys or drums. The element calcu-
lates the current stiffness ki and damping bi depend-
ing on the current length of the cable section lx
pffiffiffiffi
k i ¼ EA=lx ; bi ¼ B  ki
where EA is the axial stiffness of the cable, B is the
damping coefficient of the cable.
5. Signal Block Function. The element is designed to
calculate the function y ¼ F(x)
The CDPR model on the SimulationX software allows
you to explore the dynamics of the CDPR, taking into
account the stiffness and damping of its cables, the masses
6 International Journal of Advanced Robotic Systems
Figure 8. The configuration of system of the prototype of sus-
pended CDPR with a point-mass EE.
Table 2. Technical parameters of the CDPR Hybrid stepper
motor.
Step angle ( ) 1.8
Motor length (mm) 154
Rated current (A) 6 hybrid stepper motors Nema34—86HB250-156 B (shown
Phase resistance (Ohm) 0.44
Phase inductance (mH) 3.7
Holding torque (Nm) 12
Insulation resistance (MOhm) 100
Lead wire (No.) 4 rithm with minimum error, high processing accuracy.
Motor weight (kg) 5 Using the Mach 3 controller, the CDPR is controlled by a
of the pulleys, and the consideration of slip between cable
and pulley. Cable length change equations are determined
from the solution of the inverse kinematics problem (3) and
are entered through the Signal Block Function elements
connected to the Cable Preset elements to control the
CDPR cable winches.
The following results are obtained from the CDPR
model on the SimulationX: deformation, deformation velo-
city, normalized deformation of the cables; length of the
unloaded cable section (incl. coiled lengths); cables ten-
sion, change of potential energy of cables; displacement,
velocity, acceleration of EE.
Experimental setup
Prototype of a suspended CDPR with a point-mass EE
To assemble the prototype of suspended CDPR with a
point-mass EE, the configuration of its system was devel-
oped. The configuration of system of the prototype of
CDPR is shown in Figure 8. The following initial data
are given: dimensions a ¼ 1235 mm, b ¼ 1500 mm, and
h ¼ 1690 mm. The mass of the EE m ¼ 10.0 kg. Cables
brand Dyneema, LIROS D-Pro 01505-0200, diameter
2 mm, cross-sectional area A ¼ 3.14 mm2, mass per unit
length p ¼ 0.18 10 2 kg/m, specific cable stiffness
Figure 9. Prototype of the suspended CDPR with a point-mass
EE.
k ¼ 38,000 N, damping coefficient B ¼ 20 Ns/m.5 Pulley
radii of winch drums R ¼ 40 mm.
The CDPR cable drive (shown in Figure 8) consists of
four winches with drums mounted on a shaft with two
bearings at both ends. The winches are coupled to four
in Table 2) with HBS86H drivers. The HBS86H drivers are
connected to the Mach 3 hybrid stepper motor controller.
The controller supports 4-axis control, interpolation algo-
computer via a USB port. The tensions in the CDPR cables
are determined using four tension sensor).
The tension sensors are connected to the ZET 058 strain
gauge measuring system, 28 which, together with the
ZETLAB TENZO software, allows collecting information
from the strain gauges in real time via eight channels simul-
taneously. Strain gauge measurement system ZET 058 can
be used for static and dynamic measurements of loads,
deformations, torque, torsional oscillations, temperature
and other physical values. Strain gauge measurement sys-
tems are represented by hardware and software suite based
on multi-channel data acquisition system ZET 058 and
ZETLAB TENZO software package.28
According to the developed of the configuration of sys-
tem of the prototype of suspended CDPR with a point-mass
EE (shown in Figure 8), its prototype was made (shown in
Figure 9).
On Figure 10 shows the interface of program controlling
the suspended CDPR with a point-mass EE.
According to the CDPR control interface, we can
manually control the EE. You can make manual transla-
tional motions of the EE: forward-backward, left-right,
up-down. In addition, it is possible to reproduce the
trajectories of motions of the EE of a CDPR given by the
curve equations, for example, a circle, an ellipse, etc. On
Figure 11 shows the demo interface of the suspended
CDPR with a point-mass EE circular trajectory of the
EE at different times.
Jomartov et al.
The operation of the prototype of the suspended CDPR
with a point-mass EE was tested on model on SimulationX,
Figure 10. Interface of the program for controlling the sus-
pended CDPR with a point-mass EE.
Figure 11. Demo interface of the suspended CDPR with a
point-mass EE at different times (a) t ¼ 2s, (b) t ¼ 5s, (c) t ¼ 8s,
and (d) t ¼ 10s.
Figure 12. Simulated graphs: (a) changes in the lengths of the cables and (b) tensions in the cables.
7
when the EE traced the trajectory of a circle with a radius of
r ¼ 0.2 m, the equation of which has the form
8
>
> x ¼ 0:2cosð0:2ptÞ;
>
>
>
>
>
>
< y ¼ 0:2sinð0:2ptÞ;
(7)
>
> z ¼ 0:15
>
>
>
>
>
>
: 0  t  10:
Based on the calculation of the CDPR model on Simu-
lationX, the following results were obtained: on
Figure 12(a, b) shows the graphs of changes in the lengths
of the cables and their tensions, when the EE with a mass
of 10 kg moves, according to the trajectory described by
equation (7).
From the calculation of the CDPR model on Simula-
tionX, the following results were obtained: on
Figure 13(a) and (b) shows the simulated graphs of the
trajectory and velocity EE along the coordinate axes; on
Figure 14(a) to (c) shows the errors of the EE trajectory
along the coordinate axes, which arise due to the account of
the elasticity of the CDPR cables in the simulation.
In the work, an experiment to determine the tension of
the suspended CDPR with a point-mass EE cables, during
the movement of its EE along a circular trajectory was
carried out. On Figure 15 shows the graphs of cable tension
calculated using the SimulationX model and measured
experimentally.
From the analysis of the cable tension graphs (shown in
Figure 15), it can be seen that there are significant devia-
tions of the experimental values from the calculated values
of the cable tensions.
These deviations are caused due to the sagging of the
suspended CDPR with a point-mass EE cables during
movement. To eliminate cable sagging, it is necessary to
maintain a specified minimum cable tension throughout the
entire cycle of its operation. We entered the data from the
tension sensors into the control system. The signal about
the level of cable tension from tension sensors is sent
through the ADC (Load Cell Amplifier HX711) to the
Mach 3 controller, which is connected to the computer
via the USB port. The computer sets the value of the
8 International Journal of Advanced Robotic Systems

Figure 13. Simulated graphs of the trajectory (a) and velocity (b) EE.

Figure 14. The errors of the EE trajectory along the coordinate axes.

Figure 15. Experimental and calculated graphs of the cable tensions.

minimum tension in the cables, which will be maintained, Figure 16 shows experimental and calculated graphs of
taking into account the data obtained from the tension the cable tensions with the control system maintaining the
sensors, during its operation. minimum cable tension.
Jomartov et al.
Figure 16. Experimental and calculated graphs of the cable tensions with new control system.
Conclusions
This article presented the modeling of a CDPR at the stage
of its initial design. From the analysis of the work on the
modeling of the CDPR, it has been established that at the
stage of the initial design of the CDPR, it is quite sufficient
to use simple and cheap software for its simulation. The
SimulationX software was chosen to simulate the CDPR.
The main goal of CDPR modeling on SimulationX is to
evaluate the parameters of the CDPR prototype at the initial
stage of its design.
The following work has been done:
1. A model on the SimulationX software package of a
suspended CDPR with a point mass EE, taking into
account the elastic-dissipative properties of cables
has been developed. As a result of the calculation of
the CDPR model on SimulationX, the graphs of the
trajectory and velocity EE along the coordinate
axes, the errors of the EE trajectory along the coor-
dinate axes, arising due to the account of the elas-
ticity of the cables, were determined.
2. Experimental researches of the prototype of the sus-
pended CDPR with a point mass EE have been
carried out. The values of experimental tensions in
cables are obtained. Experimental graphs of tension
in the cables were obtained using tension sensors
connected to the strain gauge measurement system
ZET 058.
3. A comparative analysis of the cable tension values
obtained from the CDPR model on SimulationX
with the experimental cable tension values was
9
carried out. Experimental researches of the proto-
type of the suspended CDPR with a point mass
EE confirmed the correctness of the application of
the model CDPR on SimulationX for practical
calculations.
In the future, the CDPR model on SimulationX will be
finalized by including new elements of the SimulationX
library, such as a servomotor, a winch and elements of a
control system. It is planned to carry out experimental
measurements of the position of the EE of a CDPR in order
to improve its model.
Declaration of conflicting interests
The authors declared no potential conflict of interest with respect
to the research, authorship, and/or publication of this article
Funding
The author(s) disclosed receipt of the following financial support
for the research, authorship, and/or publication of this article: This
research has been funded by the Science Committee of the Min-
istry of Education and Science of the Republic of Kazakhstan
(Grant No. AP09259339).
ORCID iD
Assylbek Jomartov https://orcid.org/0000-0002-7262-5267
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