Version 1
: Received: 20 October 2017 / Approved: 20 October 2017 / Online: 20 October 2017 (03:30:27 CEST)
How to cite:
Heidari, O.; Behzadipour, S. Analytical Solution to Find the Interference Boundaries of Planar Cable-Driven Mechanisms. Preprints2017, 2017100135. https://doi.org/10.20944/preprints201710.0135.v1
Heidari, O.; Behzadipour, S. Analytical Solution to Find the Interference Boundaries of Planar Cable-Driven Mechanisms. Preprints 2017, 2017100135. https://doi.org/10.20944/preprints201710.0135.v1
Heidari, O.; Behzadipour, S. Analytical Solution to Find the Interference Boundaries of Planar Cable-Driven Mechanisms. Preprints2017, 2017100135. https://doi.org/10.20944/preprints201710.0135.v1
APA Style
Heidari, O., & Behzadipour, S. (2017). Analytical Solution to Find the Interference Boundaries of Planar Cable-Driven Mechanisms. Preprints. https://doi.org/10.20944/preprints201710.0135.v1
Chicago/Turabian Style
Heidari, O. and Saeed Behzadipour. 2017 "Analytical Solution to Find the Interference Boundaries of Planar Cable-Driven Mechanisms" Preprints. https://doi.org/10.20944/preprints201710.0135.v1
Abstract
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.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
