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Antipodal Criteria for Workspace Characterization of Spatial Cable-Driven Robots

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Cable-Driven Parallel Robots (CableCon 2019)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 74))

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Abstract

In this paper, the implementation of the antipodal principles on the spatial cable-driven parallel robots is investigated. The spatial form of the antipodal method is presented and the criteria for examining the wrench-closure workspace of cable robots are developed. The generalization of the 3D conditions on the 6 DOF fully constrained spatial robots, with one or two cables at each platform attachment points, is proposed. Comprehensive mathematical models are developed and implemented in simulation for a variety of 5 and 6 degrees of freedom cable robots.

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References

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Author information

Authors and Affiliations

  1. Department of Mechanical and Materials Engineering, Queen’s University, Kingston, Ontario, Canada

    Leila Notash

Authors
  1. Leila Notash
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Correspondence to Leila Notash .

Editor information

Editors and Affiliations

  1. University of Stuttgart, Stuttgart, Germany

    Andreas Pott

  2. Universität Duisburg-Essen, Duisburg, Germany

    Tobias Bruckmann

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Notash, L. (2019). Antipodal Criteria for Workspace Characterization of Spatial Cable-Driven Robots. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham. https://doi.org/10.1007/978-3-030-20751-9_17

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