Workspace analysis of a Cartesian cable based robot
DOI:
https://doi.org/10.30973/progmat/2016.8.1/2Keywords:
Optimization, workspace, redundancy, cable-based robotsAbstract
This paper has described the workspace of a novel Cartesian cable-based robot. The robotic system is composed of a mobile platform connected to a static box via a set of four pair of actuated cables by two servomotors. The cables arrangement allows the mobile platform to achieve stiff positions with constant orientation along with large planar motions. The work- space is obtained by a computational iterative method which verifies each position of the mobile platform. Finally, numerical results have shown the viability of the proposed method for different conditions of cable tensions.
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