Determination of the Wrench-Closure Workspace of 6-DOF Parallel Cable-Driven Mechanisms - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2006

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

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.
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Dates and versions

lirmm-00198802 , version 1 (17-12-2007)

Identifiers

  • HAL Id : lirmm-00198802 , version 1

Cite

Marc Gouttefarde, Jean-Pierre Merlet, David Daney. Determination of the Wrench-Closure Workspace of 6-DOF Parallel Cable-Driven Mechanisms. Advances in Robot Kinematics, Ljubljana, Slovenia, pp.315-322. ⟨lirmm-00198802⟩
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