A geometrical workspace calculation method for cable-driven parallel manipulators on minimum tension condition |
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Authors: | Xiaoqiang Tang Weifang Wang Lewei Tang |
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Affiliation: | State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, P.R. China |
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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. |
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Keywords: | Workspace analysis tension distribution cable-driven parallel manipulator parallel manipulator |
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