Computing cross-sections of the workspace of cable-driven parallel robots with 6 sagging cables

Jean-Pierre Merlet 1
1 HEPHAISTOS - HExapode, PHysiologie, AssISTance et Objets de Service
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Finding the workspace of cable driven parallel robots (CDPR) with sagging cables (i.e. elastic and deformable cables) is a problem that has never been fully addressed in the literature as this is a complex issue: the inverse kinematics may have multiple solutions and the equations that describe the problem are non-linear and non algebraic. We address here the problem of determining an approximation of the border of horizontal cross-sections of the workspace for CDPR with 6 cables. We present an algorithm that give an outline of this border but also rises several theoretical issues. We then propose another algorithm that allow to determine a polygonal approximation of the workspace border induced by a specific constraint. All these algorithms are illustrated on a very large CDPR.
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Jean-Pierre Merlet. Computing cross-sections of the workspace of cable-driven parallel robots with 6 sagging cables. CK 2017 - Computational Kinematics, May 2017, Poitiers, France. ⟨hal-01643456⟩

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