This paper presents a new geometry-based method to determine if a cable-driven robot operating in a d-degree-of-freedom workspace (2 ≤ d ≤ 6) with nd cables can generate a given set of wrenches in a given pose, considering acceptable minimum and maximum tensions in the cables. To this end, the fundamental nature of the Available Wrench Set is studied. The latter concept, defined here, is closely related to similar sets introduced in [23, 4]. It is shown that the Available Wrench Set can be represented mathematically by a zonotope, a special class of convex polytopes. Using the properties of zonotopes, two methods to construct the Available Wrench Set are discussed. From the representation of the Available Wrench Set, computationally-efficient and non-iterative tests are presented to verify if this set includes the Task Wrench Set, the set of wrenches needed for a given task.

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