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On the Boundaries of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms

[+] Author Affiliations
K. Azizian, P. Cardou

Laval University, Québec, QC, Canada

B. Moore

ATR Computational Neuroscience Labs, Seika, Kyoto, Japan

Paper No. DETC2010-28135, pp. 203-212; 10 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses for which any wrench can be produced at the end-effector by a set of a non-negative cable tensions. It is already known that the boundary of the constant-orientation wrench-closure workspace of a planar parallel cable-driven mechanism is composed of segments of conic sections. However, the relationship between the geometry of the mechanism and the types of these conic sections is unknown. This paper proposes a graphical method for determining the types of these conic sections. It is also shown that the proposed method can be applied to find the constant-orientation singularities of a 3-RPR planar parallel robot, since these contours correspond to the boundary segment of the analogous three-cable driven planar parallel mechanism.

Copyright © 2010 by ASME
Topics: Cables , Mechanisms



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