Over the past decade, cable-driven parallel mechanisms have been used for several purposes. In this paper, a novel application is proposed, namely, using two 6DOF cable-driven parallel mechanisms sharing a common workspace to obtain the mechanical base for the design of a locomotion interface. The methodology used to develop the architecture of the mechanisms is presented, and the two main criteria used to optimize the geometry are described. These criteria are based on the wrench-closure workspace and a detection of the mechanical interferences between all the entities of the locomotion interface (cables and moving bodies). Then, the final design is described and its performances are given. Finally, in order to validate the relevance of the mechanism for the locomotion interface’s design, tensile forces in the cables are computed to observe the maximal values reached during a typical human gait trajectory.

1.
Barrette
,
G.
, and
Gosselin
,
C. M.
, 2005, “
Determination of the Dynamic Workspace of Cable-Driven Planar Parallel Mechanisms
,”
ASME J. Mech. Des.
1050-0472,
127
(
2
), pp.
242
248
.
2.
Yin
,
X.
, and
Bowling
,
A. P.
, 2006, “
Dynamic Performance Limitations Due to Yielding in Cable-Driven Robotic Manipulators
,”
ASME J. Mech. Des.
1050-0472,
128
(
1
), pp.
311
318
.
3.
Kawamura
,
S.
,
Ida
,
M.
,
Wada
,
T.
, and
Wu
,
J.-L.
, 1995, “
Development of A Virtual Sports Machine Using A Wire Drive System: A Trial of Virtual Tennis
,”
IEEE: Proceedings of the International Conference on Intelligent Robots and Systems
,
Pittsburgh, PA
, Aug. 5–9, pp.
111
116
.
4.
Williams
,
R. L.
, II
, 1999, “
Planar Cable-Suspended Haptic Interface: Design for Wrench Exertion
,”
Proceedings of the 1999 ASME Design Technical Conferences, 25th Design Automation Conference
, Las Vegas, NV, Sept., DETC99∕DAC-8639.
5.
Kawamura
,
S.
,
Kino
,
H.
, and
Won
,
C.
, 2000, “
High-Speed Manipulation by Using Parallel Wire-Driven Robots
,”
Robotica
0263-5747,
18
(
1
), pp.
13
21
.
6.
Usher
,
K.
,
Winstanley
,
G.
,
Corke
,
P.
, and
Stauffacher
,
D.
, 2005, “
Air Vehicle Simulator: An Application for a Cable Array Robot
,”
IEEE: Proceedings of the International Conference on Robotics and Automation (ICRA05)
, Barcelona, Spain, Apr., pp.
2253
2258
.
7.
Darken
,
R. P.
,
Cockayne
,
W. R.
, and
Carmein
,
D.
, 1997, “
The Omni-Directional Treadmill: A Locomotion Device for Virtual Worlds
,”
UIST (User Interface Software and Technology): Proceedings of the ACM Symposium
,
Banff, Alberta, Canada
, Oct. 14–17, pp.
213
221
.
8.
Iwata
,
H.
, 1999, “
Walking About Virtual Environments on an Infinite Floor
,”
IEEE: Proceedings of the Virtual Reality Annual International Symposium
,
Houston, TX
, Mar. 13–17, pp.
286
393
.
9.
Huang
,
J.-Y.
, 2003, “
An Omnidirectional Stroll-Based Virtual Reality Interface and Its Application on Overhead Crane Training
,”
IEEE Trans. Multimedia
1520-9210,
5
(
1
), pp.
39
51
.
10.
Schmidt
,
H.
,
Hesse
,
S.
,
Bernhardt
,
R.
, and
Krüger
,
J.
, 2005, “
HapticWalker—A Novel Haptic Foot Device
,”
ACM Trans. Appl. Percept.
,
2
(
2
), pp.
166
180
.
11.
Yoon
,
J.
, and
Ryu
,
J.
, 2006, “
A Novel Locomotion Interface With Two 6-DOF Parallel Manipulators That Allows Human Walking on Various Virtual Terrains
,”
Int. J. Robot. Res.
0278-3649,
25
(
7
), pp.
689
708
.
12.
Gouttefarde
,
M.
, 2005, “
Analyse de l’Espace des Poses Polyvalentes des Mécanismes Parallèles entraînéspar Câbles
,” Thèse de Doctorat, Université Laval, QC, Canada.
13.
Goldberg
,
D. A.
, 1998,
Genetic Algorithms in Search, Optimization & Machine Learning
,
17th ed.
,
Addison-Wesley
,
Reading, MA
.
14.
Gouttefarde
,
M.
, and
Gosselin
,
C. M.
, 2006, “
Analysis of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms
,”
IEEE Trans. Rob. Autom.
1042-296X,
22
(
3
), pp.
434
445
.
15.
Stump
,
E.
, and
Kumar
,
V.
, 2006, “
Workspaces of Cable-Actuated Parallel Manipulators
,”
ASME J. Mech. Des.
1050-0472,
128
(
1
), pp.
159
167
.
16.
Merlet
,
J.-P.
, 2004, “
Analysis of the Influence of Wires Interference on the Workspace of Wire Robots
,”
Advances in Robot Kinematics
,
Kluwer Academic
,
Dordrecht, The Netherlands
, pp.
211
218
.
17.
McFadyen
,
B. J.
, and
Prince
,
F.
, 2002, “
Avoidance and Accommodation of Surface Height Changes by Healthy, Community-Dwelling, Young, and Elderly Men
,”
J. Gerontol., Ser. A
1079-5006,
57A
(
4
), pp.
B166
B174
.
18.
Fattah
,
A.
, and
Agrawal
,
S. K.
, 2002, “
Design of Cable-Suspended Planar Parallel Robots for an Optimal Workspace
,”
Proceedings of the WORKSHOP on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators
, Quebec City, Canada, Oct., pp.
195
202
.
You do not currently have access to this content.