Workspaces of Cable-Actuated Parallel Manipulators
- 25 July 2005
- journal article
- Published by Wiley in Journal of Mechanical Design
- Vol. 128 (1) , 159-167
Abstract
This paper develops analytical techniques to delineate the workspace boundaries for parallel mechanisms with cables. In such mechanisms, it is not only necessary to solve the closure equations but it is also essential to verify that equilibrium can be achieved with non-negative actuator (cable) forces. We use tools from convex analysis and linear algebra to derive closed-form expressions for the workspace boundaries and illustrate the applications using planar and spatial examples.Keywords
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