In this paper, a technique to generate the wrench-closure workspace for general case completely restrained cable driven parallel mechanisms is proposed. Existing methods can be classified as either numerically or analytically based approaches. Numerical techniques exhaustively sample the task space, which can be inaccurate due to discretisation and is computationally expensive. In comparison, analytical formulations have higher accuracy, but often provides only qualitative workspace information. The proposed hybrid approach combines the high accuracy of the analytical approach and the algorithmic versatility of the numerical approach. Additionally, this is achieved with significantly lower computational costs compared to numerical methods. It is shown that the wrench-closure workspace can be reduced to a set of univariate polynomial inequalities with respect to a single variable of the end-effector motion. In this form, the workspace can then be efficiently determined and quantitatively evaluated. The proposed technique is described for a 3 degrees of freedom (3-DOF) and a 6-DOF cable driven parallel manipulator. A detailed example in workspace determination using the proposed approach and comparison against the conventional numerical approach is presented.
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e-mail: dtlau@student.unimelb.edu.au
e-mail: doetomo@unimelb.edu.au
e-mail: saman@unimelb.edu.au
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July 2011
Research Papers
Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators Using a Hybrid Analytical-Numerical Approach
Darwin Lau,
Darwin Lau
Department of Mechanical Engineering,
e-mail: dtlau@student.unimelb.edu.au
The University of Melbourne
, Victoria, 3010, Australia
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Denny Oetomo,
Denny Oetomo
Department of Mechanical Engineering,
e-mail: doetomo@unimelb.edu.au
The University of Melbourne
, Victoria, 3010, Australia
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Saman K. Halgamuge
Saman K. Halgamuge
Department of Mechanical Engineering,
e-mail: saman@unimelb.edu.au
The University of Melbourne
, Victoria, 3010, Australia
Search for other works by this author on:
Darwin Lau
Department of Mechanical Engineering,
The University of Melbourne
, Victoria, 3010, Australia
e-mail: dtlau@student.unimelb.edu.au
Denny Oetomo
Department of Mechanical Engineering,
The University of Melbourne
, Victoria, 3010, Australia
e-mail: doetomo@unimelb.edu.au
Saman K. Halgamuge
Department of Mechanical Engineering,
The University of Melbourne
, Victoria, 3010, Australia
e-mail: saman@unimelb.edu.au
J. Mech. Des. Jul 2011, 133(7): 071004 (10 pages)
Published Online: July 8, 2011
Article history
Received:
August 13, 2010
Revised:
May 3, 2011
Published:
July 7, 2011
Online:
July 8, 2011
Citation
Lau, D., Oetomo, D., and Halgamuge, S. K. (July 8, 2011). "Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators Using a Hybrid Analytical-Numerical Approach." ASME. J. Mech. Des. July 2011; 133(7): 071004. https://doi.org/10.1115/1.4004222
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