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Conference papers

Wrench-Feasible Workspace of Parallel Cable-Driven Mechanisms

Marc Gouttefarde 1, * Jean-Pierre Merlet 1 David Daney 1
* Corresponding author
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
Abstract : The wrench-feasible workspace (WFW) of a parallel cable-driven mechanism is the set of poses of its mobile platform for which the cables can balance any wrench in a specifed set of wrenches, such that the tension in each cable remains within a prescribed range. The WFW is fundamental since it takes into account both the requirement of nonnegative cable tension and the requirement of a maximum admissible cable tension. This paper addresses the problem of the determination of the WFW of n-degree-of-freedom parallel mechanisms driven by more than n cables. Interval analysis based methods that allow to determine if a given n-dimensional box is fully included in the WFW are presented. Moreover, these methods are also able to approximate the WFW up to a chosen accuracy. The resulting approximation consists of a set of n-dimensional boxes such that each box of the set is fully included in the WFW.
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Contributor : Marc Gouttefarde-Tanich <>
Submitted on : Tuesday, December 18, 2007 - 10:06:40 PM
Last modification on : Monday, December 17, 2018 - 10:50:04 AM


  • HAL Id : lirmm-00199377, version 1



Marc Gouttefarde, Jean-Pierre Merlet, David Daney. Wrench-Feasible Workspace of Parallel Cable-Driven Mechanisms. ICRA'07: International Conference on Robotics and Automation, Apr 2007, Roma, Italy, pp.1492-1497. ⟨lirmm-00199377⟩



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