Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators Using a Hybrid Analytical-Numerical Approach

Abstract

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 c..