A generic tension-closure analysis method for fully-constrained cable-driven parallel manipulators
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Motion analysis of an underconstrained cable suspended mobile robot
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Neural Network Solution for Forward Kinematics Problem of Cable Robots
Journal of Intelligent and Robotic Systems
Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots
International Journal of Intelligent Mechatronics and Robotics
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This paper presents a method for analytically generating the boundaries of the wrench-feasible workspace (WFW) for cable robots. This method uses the available net wrench set, which is the set of all wrenches that a cable robot can apply to its surroundings without violating tension limits in the cables. The geometric properties of this set permit calculation of the boundaries of the WFW for planar, spatial, and point-mass cable robots. Complete analytical expressions for the WFW boundaries are detailed for a planar cable robot and a spatial point-mass cable robot. The analytically determined boundaries are verified by comparison with numerical results. Based on this, several workspace properties are shown for point-mass cable robots. Finally, it is shown how this workspace-generation approach can be used to analytically formulate other workspaces