https://hal-lirmm.ccsd.cnrs.fr/lirmm-00198798Gouttefarde, MarcMarcGouttefardeLaboratoire de robotique - ULaval - Université Laval [Québec]Gosselin, Clément M.Clément M.GosselinLaboratoire de robotique - ULaval - Université Laval [Québec]On the Properties and the Determination of the Wrench-Closure Workspace of Planar Parallel Cable-Driven MechanismsHAL CCSD2004Parallel robotsparallel cable-driven mechanismsworkspacewrench-closure[SPI.AUTO] Engineering Sciences [physics]/AutomaticGouttefarde-Tanich, MarcASME2007-12-17 22:00:072022-07-22 03:40:372007-12-18 10:32:00enConference papers1This 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.