Antipodal Criteria for Workspace Characterization of Spatial Cable-Driven Robots

  • Leila NotashEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)


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.


Cable-Driven Parallel Robots Antipodal Method 


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Mechanical and Materials EngineeringQueen’s UniversityKingstonCanada

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