Analytical Solution to Find the Interference Boundaries of Planar Cable-Driven Mechanisms

Omid Heidari; Saeed Behzadipour

doi:10.20944/preprints201710.0135.v1

Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Version 1 : Received: 20 October 2017 / Approved: 20 October 2017 / Online: 20 October 2017 (03:30:27 CEST)

Cable interference in cable-driven mechanisms (CDM) is a major challenge in their applications. The wrench closure workspace (WCW) in a fully constrained mechanism may not be realized unless cable interference is considered. This paper classifies all possible types of cable interferences for planar cable-driven mechanisms and presents an analytical solution to find the boundaries of the constant-orientation interference region. It is shown that interference between cables starts and ends when one end of a cable coincides with another cable which can be thought as lying a point on a line segment. This geometrical view is developed and applied to provide a framework for the analysis of cable interference. By subtracting the interference space form WCW, the interference-free workspace is obtained in which the robot is able to operate.

planar cable-driven mechanisms; interference; wrench closure workspace

ENGINEERING, Mechanical Engineering

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Analytical Solution to Find the Interference Boundaries of Planar Cable-Driven Mechanisms

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