Preprint Article Version 1 This version is not peer-reviewed

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

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. Preprints 2017, 2017100135 (doi: 10.20944/preprints201710.0135.v1). Heidari, O.; Behzadipour, S.. Analytical Solution to Find the Interference Boundaries of Planar Cable-Driven Mechanisms. Preprints 2017, 2017100135 (doi: 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.

Subject Areas

planar cable-driven mechanisms; interference; wrench closure workspace

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