interval analysis of controllable workspace for cable robots

workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameters in the cable drivenredundant parallel manipulators. in this paper, a novel tool is presented based on interval analysis fordetermination of ‎the boundaries and proper assessment of the enclosed region of controllable workspace ofcable-driven redundant parallel manipulators. this algorithm utilizes the fundamental wrench interpretationto analyze the controllable workspace of cable driven redundant parallel manipulators. fundamental wrenchis the newly definitions that opens new horizons for physical interpretation of controllable workspace ofgeneral cable driven redundant parallel manipulators. ‎finally, ‎the proposed method is implemented on aspatial cable driven redundant manipulator of interest.