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

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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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00198798
Contributor : Marc Gouttefarde <>
Submitted on : Monday, December 17, 2007 - 10:00:07 PM
Last modification on : Monday, December 17, 2018 - 10:50:04 AM

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  • HAL Id : lirmm-00198798, version 1

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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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