Calculation of the cable-platform collision-free total orientation workspace of cable-driven parallel robots

Variable-Structure Cable-Driven Parallel Robots

“…Not surprisingly, it is also a topic that has received a lot of research interest, being studied primarily from the perspectives of collision detection and avoidance. Many papers have been published on topics such as determining the collision-free workspace [14,17,18] and the planning of collision-free trajectories [19,20]. While important, there is a limit to what can be achieved with such strategies, and they are helpless to overcome fundamental limitations, such as the restriction to convex installation spaces.…”

“…Several studies have produced methods for detecting cable collisions with both environmental obstacles and other cables [62][63][64][65]. In studies such as [14,17,18], the idea of a 'collision-free workspace' is discussed along with methods for its computation. In [19] and [20], collision avoidance is addressed as a path planing problem: both studies present methods for computing collisionfree trajectories for CDPRs in cluttered environments; however, there is a limitation as to what can be achieved with a path planning approach: such methods can only obtain a solution for a collision-free path if one exists.…”

Reconfigurable fully constrained cable driven parallel mechanism for avoiding interference between cables

“…Bordalba et al [24] proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots. The authors presented a method to find a collision-free trajectory [25,26] between two points with known positions and velocities while maintaining the cables in tension continually and at the same time adhering to the actuators and joints force capabilities. The authors validated the proposed approach by experimental data on a specific cable driven mechanism design; they concluded that this approach is valid for other mechanism designs.…”