2012•Transactions of the Canadian Society for Mechanical EngineeringRequires access

CONTROLLABLE WORKSPACE OF CABLE-DRIVEN REDUNDANT PARALLEL MANIPULATORS BY FUNDAMENTAL WRENCH ANALYSIS

Azadeh Zarif Loloei, Hamid D. Taghirad

Abstract

Workspace analysis is always a crucial issue in robotic manipulator design. This paper introduces a set of newly defined fundamental wrenches that opens new horizons to physical interpretation of controllable workspace of a general cable-driven redundant parallel manipulator. Based on this set of fundamental wrenches, a novel tool is presented to determine configurations of cable-driven redundant parallel manipulator that belong to the controllable workspace. Analytical expressions of such workspace boundaries are obtained in an implicit form and a rigorous mathematical proof is provided for this method. Finally, the proposed method is implemented on a spatial cable-driven manipulator of interest.

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Key concepts: Wrench, Workspace, Parallel manipulator, Set (abstract data type), Serial manipulator, Computer science, Kinematics, Control engineering