Determination of the Wrench-Closure Workspace of 6-DOF Parallel Cable-Driven Mechanisms

Marc Gouttefarde 1, * Jean-Pierre Merlet 1 David Daney 1
* Auteur correspondant
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
Abstract : The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses of their mobile platform for which the cables can balance any external wrench. The determination of this workspace is an important issue since the cables can only pull and not push on the mobile platform. This paper deals with the wrench-closure workspace of six-degrees-of-freedom (DOF) parallel mechanisms driven by m cables, m >= 7. The boundary of the constant-orientation cross sections of the wrench-closure workspace is shown to consist of parts of cubic surfaces and an efficient method that determine this workspace by delineating its boundary is proposed.
Keywords : Cable-Driven Mechanism Parallel Mechanism Wrench-Closure Workspace Gough-Stewart Platform
Type de document :
Communication dans un congrès
J. Lenarcic, B. Roth. Advances in Robot Kinematics, Ljubljana, Slovenia, Springer, pp.315-322, 2006
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00198802
Contributeur : Marc Gouttefarde <>
Soumis le : lundi 17 décembre 2007 - 22:41:26
Dernière modification le : samedi 7 avril 2018 - 01:18:07

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  • HAL Id : lirmm-00198802, version 1

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INRIA | LIRMM | TDS-MACS | ENPC | PARISTECH

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Marc Gouttefarde, Jean-Pierre Merlet, David Daney. Determination of the Wrench-Closure Workspace of 6-DOF Parallel Cable-Driven Mechanisms. J. Lenarcic, B. Roth. Advances in Robot Kinematics, Ljubljana, Slovenia, Springer, pp.315-322, 2006. 〈lirmm-00198802〉

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