Derivation of Complete Interference Conditions for Wire-driven Parallel Robots

To overcome the misjudgment and omission of determining the interference for wire-driven parallel robots(WDPRs) due to unclear interference classification and incomplete derivation,the interference conditions containing various types of interferences are deduced and an interference solution strategy is put forward.Based on the clear interference classification,the interference conditions are derived according to all kinds of position relations to the intersection of common perpendicular between two wires or between a wire and an edge of the end-effector,the sufficient and necessary interference condition for a wire interference with a plane of end-effector is proved,from which an interference solution strategy for the WDPRs is proposed.The interference problem of a typical WDPR is solved and compared by using the proposed strategy,the simulation results show that this method can determine the interference region more reasonably than conventional methods,thus providing the theoretical foundation for controlling the WDPR more accurately.