Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis

The kinematic sensitivity has been recently proposed as a unit-consistent performance index to circumvent several shortcomings of some notorious indices such as dexterity. This paper presents a systematic interval approach for computing an index by which two important kinematic properties, namely feasible workspace and kinematic sensitivity, are blended into each other. The proposed index may be used to efficiently design different parallel mechanisms, and cable driven robots. By this measure, and for parallel manipulators, it is possible to visualize constant orientation workspace of the mechanism where the kinematic sensitivity is less than a desired value considered by the designer. For cable driven redundant robots, the controllable workspace is combined with the desired kinematic sensitivity property, to determine the so-called feasible kinematic sensitivity workspace of the robot. Three case studies is considered for the development of the idea and verification of the results, through which a conventional planar parallel manipulator, a redundant one and a cable driven robot is examined in detail. Finally, the paper provides some hints for the optimum design of the mechanisms under study by introducing the concept of minimum feasible kinematic sensitivity covering the whole workspace.