A new methodology for the determination of the workspace of six-DOF redundant parallel structures actuated by nine wires

Abstract

The WiRo-6.3 is a six-degrees of freedom (six-DOF) robotic parallel structure actuated by nine wires, whose characteristics have been thoroughly analyzed in previous papers in reference. It is thought to be a master device for teleoperation; thus, it is moved by an operator through a handle and can convey a force reflection on the operator's hand. A completely new method for studying the workspace of this device, and of virtually any nine-wire parallel structure actuated by wire is presented and discussed, and its results are given in a graphical form.

An Overview of the Development for Cable-Driven Parallel Manipulator

“…There exist many methods to define the static workspace in [27,[32][33][34] and the characteristics are illustrated in detail about the static workspace poses [35]. Other researchers focus on the dynamic workspace to solve the dynamic trajectory planning problem [36][37][38].…”

Cable Driven Devices for Telemanipulation

“…It is not trivial to find out whether at least one strictly positive τ* exists, especially for highly redundant structures; a possible method has been developed by the authors (Ferraresi et al, 2007) but its description is beyond the scopes of this Chapter and will not be presented here. Moreover, several strategies may be adopted to minimise calculation times and to deal with displacements and orientations of the platform.…”

Computing Cross-Sections of the Workspace of Cable-Driven Parallel Robots with 6 Sagging Cables

“…Workspace calculation for parallel robots with rigid legs is a well-addressed subject [7,15] but the unilateral action of the cables, that can only pull but cannot push, introduces new workspace limiting factors. Numerous works have addressed the problem of workspace calculation of CDPR [1,2,3,4,5,6,8,10,12,17,20,22] but most of them assume non deformable and non elastic cables. Discretisation-based method has been proposed for elastic cables [11] and for a simplified sagging cable model [18].…”