ScholarLens Back to search
2002•Unpublished venueRequires access

Workspace and Design Analysis of Cable-Suspended Planar Parallel Robots

Abbas Fattah, Sunil K. Agrawal

Open publisher page 38 citations

Abstract

In this paper, we present a method to obtain the workspace of cable-suspended planar parallel robots. The significant difference between regular parallel robots and cable-suspended parallel robots is that the cables in cable-suspended robots can only carry tension forces. Hence, static equilibrium equations must be used to compute the forces in the cable robot. The workspace is characterized as the set of points where the reference point on the end-effector platform can reach with tensions in the cables. In this paper, we address this problem for robots with two, three, or more cables. Then, we study the question of design of the cable robot to determine the number of cables, location of the suspension points of the cables, and size of the moving platform to attain the largest workspace.

About this research paper

What this paper is about

In this paper, we present a method to obtain the workspace of cable-suspended planar parallel robots. The significant difference between regular parallel robots and cable-suspended parallel robots is that the cables in cable-suspended robots can only carry tension forces. Hence, static equilibrium equations must be used to compute the forces in the cable robot. The workspace is characterized as the set of points where the reference point on the end-effector platform can reach with tensions in the cables. In this paper, we address this problem for robots with two, three, or more cables. Then, we study the question of design of the cable robot to determine the number of cables, location of the suspension points of the cables, and size of the moving platform to attain the largest workspace.

Why it matters

OpenAlex reports 38 citations for this work. Citation counts describe recorded attention and do not establish research quality.

Key contribution

A contribution statement is not available in the OpenAlex record.

Method / approach

Method details are not available in the OpenAlex metadata.

Main findings

Findings are not separately available in the OpenAlex metadata.

Limitations

Limitations are not available in the OpenAlex metadata.

Applications

Application details are not available in the OpenAlex metadata.

Available abstract

In this paper, we present a method to obtain the workspace of cable-suspended planar parallel robots. The significant difference between regular parallel robots and cable-suspended parallel robots is that the cables in cable-suspended robots can only carry tension forces. Hence, static equilibrium equations must be used to compute the forces in the cable robot. The workspace is characterized as the set of points where the reference point on the end-effector platform can reach with tensions in the cables. In this paper, we address this problem for robots with two, three, or more cables. Then, we study the question of design of the cable robot to determine the number of cables, location of the suspension points of the cables, and size of the moving platform to attain the largest workspace.

Key concepts: Workspace, Robot, Parallel manipulator, Planar, Robot end effector, Suspension (topology), Point (geometry), Computer science

Related papers

Related paper 1Related paper 2Related paper 3
Back to paper searchBrowse research topicsOriginal source
Workspace and Design Analysis of Cable-Suspended Planar Parallel Robots — Research Paper | ScholarLens