Reconfigurable fully constrained cable-driven parallel mechanism for avoiding collision between cables with human

Abstract Productivity can be increased by manipulators tracking the desired trajectory with some constraints. Humans as moving obstacles in a shared workspace are one of most challenging problems for cable-driven parallel mechanisms (CDPMs) that considered this research. One essential primary issues CDPM is collision avoidance among cables and humans workspace. This paper presents model simulation reconfigurable, fully constrained enabling detection cable–human collision. In method, unlike conventional CDPMs where attachment points fixed, on rails moved (up down their rails), then geometric configuration adapted. Karush–Kuhn–Tucker method proposed, which focuses estimating shortest distance (human limbs) all cables. When cable limbs close to colliding, new idea reconfiguration presented cable’s point rail increase between human while they both moving. Also, end effector remains unchanged. Some results theory approach shown eight-cable-driven manipulator, including boundary variation. The proposed could find collision-free predefined path, according results.