Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots

Modeling and Wrench Feasible Workspace Analysis of a Cable Suspended Robot for Heavy Loads Handling

Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and app...

Navigating the Wrench-Feasible C-Space of Cable-Driven Hexapods

Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack –to keep the control of the platform– nor excessively tight –to prevent cable breakage– even in the presence of bounded perturbations of the wrench. This paper proposes a path...

Disturbance Robustness Measures and Wrench-Feasibile Workspace Generation Techniques for Cable-Driven Robots

Determination of the Wrench-closure Workspace of 6-dof Parallel Cable-driven Mechanisms

The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses of their mobile platform for which the cables can balance any external wrench. The determination of this workspace is an important issue since the cables can only pull and not push on the mobile platform. This paper deals with the wrench-closure workspace of six-degrees-of-freedom (DOF) parallel mechanisms driv...

On the Boundaries of the Wrench-closure Workspace of Planar Parallel Cable-driven Mechanisms

The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses for which any wrench can be produced at the end-effector by a set of a non-negative cable tensions. It is already known that the boundary of the constant-orientation wrench-closure workspace of a planar parallel cable-driven mechanism is composed of segments of conic sections. Howevel; the relationship between ...