Design, Kinematics and Stiffness Analysis of a Reconfigurable Cable-Driven Parallel Robot

• Proposes a novel reconfigurable cable-driven parallel robot (RCDPR) with adjustable brackets to avoid collisions and enhance flexibility. • Integrates a variable stiffness actuator (VSA) with finite element analysis to optimize cable tension and adapt to varying task requirements. • Establishes an inverse kinematic model using the vector closure principle and derives system stiffness for the proposed RCDPR. • Verifies the rationality and accuracy of the robot through numerical analysis, offering a foundation for trajectory planning.