Calculation of the cable-platform collision-free total orientation workspace of cable-driven parallel robots

  • Marc FabritiusEmail author
  • Christoph Martin
  • Andreas Pott
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)


The large workspace of cable-driven parallel robots is one of their main benefits over conventional parallel robots with rigid links. Therefore, it is crucial to measure its size and analyze its constraints. One of the limits are collisions between the cables and the platform of the robot. They can damage the robot and cause malfunctioning of its control algorithms. In the literature, methods for the detection of this collision type only consider the constant orientation workspace and are ill-suited for platform geometry data supplied from a CAD model.

This paper presents a new approach for the approximation of the cable-platform collision-free total orientation workspace with various platform orientation sets. The collision detection is based on a convex collision cone data structure that precisely extracts the relevant information for collision detection from the platform geometry data. This method is compatible with various workspace approximation algorithms to facilitate its integration into the design process of cable-driven parallel robots. It is tested on the IPAnema 3 cable robot geometry and its performance is evaluated in terms of computation time.


cable-driven parallel robots workspace analysis total orientation workspace cable-platform collisions 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.



The results presented in this paper are originated in the research project HINDCON (Hybrid INDustrial CONstruction) funded by the European Commission (Grant Agreement No 723611).


  1. 1.
    Ward Cheney and David Kincaid. Linear algebra: Theory and applications. Vol. 110. 2009.Google Scholar
  2. 2.
    Jonathan D. Hiller and Hod Lipson. “STL 2.0: a proposal for a universal multi-material additive manufacturing file format”. In: Proceedings of the Solid Freeform Fabrication Symposium. 1. 2009, pp. 266–278.Google Scholar
  3. 3.
    Jean-Pierre Merlet. “Analysis of the influence of wires interference on the workspace of wire robots”. In: On Advances in Robot Kinematics. Springer, 2004, pp. 211–218.Google Scholar
  4. 4.
    Dinh Quan Nguyen and Marc Gouttefarde. “On the Improvement of Cable Collision Detection Algorithms”. In: Cable-Driven Parallel Robots: Proceedings of the Second International Conference on Cable-Driven Parallel Robots. Ed. by Andreas Pott and Tobias Bruckmann. Cham: Springer International Publishing, 2015, pp. 29–40.Google Scholar
  5. 5.
    Simon Perreault et al. “Geometric determination of the interference-freeconstant-orientation workspace of parallel cable-driven mechanisms”. In: Journal of Mechanisms and Robotics 2.3 (2010), p. 031016.Google Scholar
  6. 6.
    Andreas Pott. Cable-Driven Parallel Robots: Theory and Application. Springer, 2018.Google Scholar
  7. 7.
    Andreas Pott. “Determination of the Cable Span and Cable Deection of Cable-Driven Parallel Robots”. In: Cable-Driven Parallel Robots. Springer, 2018, pp. 106–116.Google Scholar
  8. 8.
    Andreas Pott et al. “IPAnema: a family of cable-driven parallel robots for industrial applications”. In: Cable-Driven Parallel Robots. Springer, 2013, pp. 119–134.Google Scholar
  9. 9.
    Suilu Yue and Qi Lin. “A Solution for interference between mobile platform and wires in wire-driven parallel manipulators”. In: 2010 IEEE International Conference on Intelligent Computing and Intelligent Systems (ICIS). Vol. 3. IEEE. 2010, pp. 693–696.Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Marc Fabritius
    • 1
    Email author
  • Christoph Martin
    • 1
  • Andreas Pott
    • 2
  1. 1.Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)StuttgartGermany
  2. 2.University of StuttgartStuttgartGermany

Personalised recommendations