Smallest Maximum Cable Tension Determination for Cable-Driven Parallel Robots

The maximum cable tension is a crucial parameter in the design of cable-driven parallel robot (CDPR) since various mechanical components CDPR must be designed to safely withstand loads induced by this tension. For CDPRs having number cables at least equal its degree freedoms (DOFs), article deals with determination smallest vectors allowing required wrench set feasible. problem formulated as minimization infinity norm under linear inequality constraints, which include wrench-feasibility constraints. solution not unique, and shown convex polytope space. Hence, generally exist computations two different are introduced. first vector has all minimum norm, can directly obtained from An algorithm proposed determine second possible value for each components. computation general sets then presented. cases particular definitions relevant heavy payload manipulation applications also Finally, these contributions applied configuration (geometry) optimization large-dimension 6-DOF installed on building facade manipulate payloads.