Kinematic modelling of cable wrapping on rigid-link phenomenon in cable-driven parallel manipulators

Abstract

© 2015 IEEE. In cable-driven parallel manipulators, the interference between the cable and the rigid link(s) of the mechanisms were generally excluded from the workspace consideration. This leads to the loss of perfectly feasible workspace of the mechanism. In this paper, the kinematic modelling of the cable path in a cable-driven parallel manipulator which involves a segment of the cable wrapped over the surface of the rigid link, is presented. The wrapping of the cable is dependent on the displacement of the rigid link and the contact between the cable and the rigid link will no longer be restricted to the cable attachment point (as in the case of a conventional cable-driven parallel manip..