The optimal architecture of a cable-based robot for warehousing applications is the main topic of this paper. This study is limited to two types of redundant planar symmetrical configurations with crossed and non-crossed cables. The design problem is divided in two main stages. First, the feasible workspace is optimized for a maximum size and rectangular-type shape of each of the redundant planar architectures. A set of four parameters is selected to fully define the geometry of the mobile platform and the location of its anchor points. In the second design stage, an optimized spatial architecture is obtained for a maximum stiffness by selecting a new set of six parameters which defines the transversal anchor points on both the mobile and static platforms. Based on these optimal parameters, a prototype is fully modeled and built for further experimentation.

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