This paper presents a method for the dimensional synthesis of fully constrained spatial cable-driven parallel mechanisms (CDPMs), namely, the problem of finding a geometry whose wrench-closure workspace (WCW) contains a prescribed workspace. The proposed method is an extension to spatial CDPMs of a synthesis method previously published by the authors for planar CDPMs. The WCW of CDPMs is the set of poses for which any wrench can be produced at the end-effector by non-negative cable tensions. A sufficient condition is introduced in order to verify whether a given six-dimensional box, i.e., a box covering point-positions and orientations, is fully inside the WCW of a given spatial CDPM. Then, a nonlinear program is formulated, whose optima represent CDPMs that can reach any point in a set of boxes prescribed by the designer. The objective value of this nonlinear program indicates how well the WCW of the resulting CDPM covers the prescribed box, a null value indicating that none of the WCW is covered and a value greater or equal to one indicating that the full prescribed workspace is covered.
The Dimensional Synthesis of Spatial Cable-Driven Parallel Mechanisms
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received June 18, 2012; final manuscript received July 15, 2013; published online September 11, 2013. Assoc. Editor: Vijay Kumar.
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Azizian, K., and Cardou, P. (September 11, 2013). "The Dimensional Synthesis of Spatial Cable-Driven Parallel Mechanisms." ASME. J. Mechanisms Robotics. November 2013; 5(4): 044502. https://doi.org/10.1115/1.4025173
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