Workspace Investigation of Wire-Actuated Parallel Manipulators With Uncertainties in Wire Connections Available to Purchase

In this article, the effect of uncertainties in wire connections on the workspace generation of wire-actuated parallel manipulators is investigated. The geometric representations of uncertainties in the attachments points of wires to the base and to the mobile platform are developed. Two methods for workspace generation with uncertainty are presented. The first method is based on the calculation of positive wire tensions derived from the static force/moment balance. The second method is based on the direction of the wire forces applied to the mobile platform, and does not take into account the wire tensions. The proposed methods are applied for the workspace generation of two planar wire-actuated parallel manipulators.