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In this paper, the conceptual design of a CDPR with pulleys on its base platform is performed, and an error mapping model considering the influence of radius of the pulleys for the CDPR is established through kinematics analysis and a full matrix complete differential method. Monte Carlo simulation is adopted to deal with the sensitivity analysis, which can directly describe the contribution of each error component to the total orientation error of the CDPR by virtue of the error modeling. The results show that the sensitivity coefficients of pulleys\u2019 geometric errors and geometric errors of the cables are relatively larger, which confirms that the cable length errors and pulleys\u2019 geometric errors should be given higher priority in design and processing.<\/jats:p>","DOI":"10.1017\/s0263574721001582","type":"journal-article","created":{"date-parts":[[2021,11,19]],"date-time":"2021-11-19T07:47:28Z","timestamp":1637308048000},"page":"2152-2167","source":"Crossref","is-referenced-by-count":8,"title":["Conceptual design and error analysis of a cable-driven parallel robot"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9879-6155","authenticated-orcid":false,"given":"Jiaxuan","family":"Li","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8491-9422","authenticated-orcid":false,"given":"Yongjie","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Qingqiong","family":"Tang","sequence":"additional","affiliation":[]},{"given":"Wei","family":"Sun","sequence":"additional","affiliation":[]},{"given":"Feifei","family":"Yuan","sequence":"additional","affiliation":[]},{"given":"Xinjian","family":"Lu","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,11,19]]},"reference":[{"key":"S0263574721001582_ref4","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2007.11.105"},{"key":"S0263574721001582_ref36","doi-asserted-by":"publisher","DOI":"10.1007\/s00158-018-2184-z"},{"key":"S0263574721001582_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.104141"},{"key":"S0263574721001582_ref16","doi-asserted-by":"publisher","DOI":"10.1002\/pamm.201610418"},{"key":"S0263574721001582_ref32","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2006.12.065"},{"key":"S0263574721001582_ref1","doi-asserted-by":"crossref","unstructured":"[1] Bosscher, P. and Ebert-Uphoff, I. , \u201cWrench-based Analysis of Cable-Driven Robots,\u201d Proceedings of 2004 IEEE International Conference on Robotics and Automation (ICRA) (2004) pp. 4950\u20134955.","DOI":"10.1109\/ROBOT.2004.1302502"},{"key":"S0263574721001582_ref34","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-09489-2_2"},{"key":"S0263574721001582_ref21","doi-asserted-by":"crossref","first-page":"467","DOI":"10.1360\/02ye9054","article-title":"Error modeling, sensitivity analysis and assembly process of a class of 3-DOF parallel kinematic machines with parallelogram struts","volume":"45","author":"Huang","year":"2002","journal-title":"Sci. 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