Wrench-feasible workspace generation for cable-driven robots

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 ca...

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Bibliographic Details
Published in:IEEE transactions on robotics 2006-10, Vol.22 (5), p.890-902
Main Authors: Bosscher, P., Riechel, A.T., Ebert-Uphoff, I.
Format: Article
Language:English
Subjects:
Applied sciences
Boundaries
Cable robot
Cables
Cameras
Computer science
control theory
systems
Control theory. Systems
Drives
Electromagnets
Engineering profession
Exact sciences and technology
Exact solutions
Feasibility
Grippers
Haptic interfaces
Interference
Linkage mechanisms, cams
Manipulation
Manipulators
Mathematical analysis
Mathematical models
Mechanical engineering. Machine design
Mechanical properties
Miscellaneous
Mobile robots
Robot vision systems
Robotics
Robots
Studies
workspace generation
wrench set
wrench-feasible
Wrenches
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Summary: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
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2006.878967