A geometrical workspace calculation method for cable-driven parallel manipulators on minimum tension condition. (17th August 2016)

• Record Type: Journal Article
• Authors: Tang, Xiaoqiang; Wang, Weifang; Tang, Lewei
• Is Part Of: Advanced robotics. Volume 30:Number 16(2016)
• Page Start: 1061
• Page End: 1071
• Publication Date: 2016-08-17
• Subjects: Workspace analysis -- tension distribution -- cable-driven parallel manipulator -- parallel manipulator; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2016.1185965
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract: In this paper, a geometrical expression to delineate the sum of tensions (i.e. minimum 1-norm tensions) of 2-DoF planar cable-driven parallel manipulators (CDPMs) is proposed and proofed, which can be used to reduce calculation time of workspace determination. Furthermore, this paper also presents a systematic analysis on the relation between cable tension and workspace by means of convex analysis. In order to obtain wrench-feasible workspace, a unified and feasible algorithm is adopted in simulation examples of spatial CDPMs with different configurations, which demonstrate that the proposed method is valid and straightforward to calculate workspace. Abstract :