Abstract
Cable-driven parallel robots manipulating heavy payloads typically use cables having non-negligible diameters and mass. The associated cable guiding pulleys may then have non-negligible radii whose influence on the robot kinematics can hardly be neglected. This paper focuses on the output pulleys from which the cables extend to the robot mobile platform. A kinetostatic analysis of cable-driven parallel robots considering both cable mass and output pulleys is presented.