On the Properties and the Determination of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2004

On the Properties and the Determination of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms

Marc Gouttefarde
Clément M. Gosselin
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Abstract

This paper presents a detailed analysis of the constant-orientation wrench-closure workspace of planar three-degree-of-freedom parallel mechanisms driven by four cables. The constant-orientation wrench-closure workspace is defined as the subset of the plane wherein, for a given orientation of the moving platform, any planar wrench applied on the moving platform can be balanced by the cable-driven mechanism. Based on mathematical observations, this workspace is proved to be the union of two disconnected sets that may or may not exist. Moreover, if the constant-orientation wrench-closure workspace (WCW) exists, its boundary is shown to be composed of portions of conic sections. Then, an algorithm that determines the constant-orientation wrench-closure workspace by means of a graphical representation of its boundary is introduced. Several examples are also included.
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Dates and versions

lirmm-00198798 , version 1 (17-12-2007)

Identifiers

  • HAL Id : lirmm-00198798 , version 1

Cite

Marc Gouttefarde, Clément M. Gosselin. On the Properties and the Determination of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms. ASME Design Engineering Technical Conferences 2004, Sep 2004, Salt Lake City, Utah, USA, pp.10. ⟨lirmm-00198798⟩

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