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Iterative algorithms are difficult to improve in real-time performance, and the tension obtained by geometric algorithms may not be continuous. In this paper, a novel tension distribution method for four-cable, 3-DOF cable-driven parallel robots is proposed based on the wave equation. The tension calculated by this method is continuous and differentiable, without the need for iterative computation or geometric centroid calculations, thus exhibiting good real-time performance. Furthermore, the feasibility and rationality of this algorithm are theoretically proven. Finally, the real-time performance and continuity of cable tension are analyzed through a specific numerical example.<\/jats:p>","DOI":"10.1017\/s0263574724001590","type":"journal-article","created":{"date-parts":[[2024,10,16]],"date-time":"2024-10-16T09:46:37Z","timestamp":1729071997000},"page":"3692-3708","source":"Crossref","is-referenced-by-count":7,"title":["A novel real-time tension distribution method for cable-driven parallel robots"],"prefix":"10.1017","volume":"42","author":[{"given":"Da","family":"Song","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-0930-2189","authenticated-orcid":false,"given":"Ming","family":"Lu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-7863-3904","authenticated-orcid":false,"given":"Lei","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhichao","family":"Sun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haochen","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lixun","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2024,10,16]]},"reference":[{"key":"S0263574724001590_ref29","doi-asserted-by":"crossref","first-page":"105402","DOI":"10.1016\/j.mechmachtheory.2023.105402","article-title":"New indices for performance evaluation of cable-driven parallel robots: Motion\/force transmissibility","volume":"188","author":"Jin","year":"2023","journal-title":"Mech. 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