期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 22, 期 5, 页码 890-902出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2006.878967
关键词
cable robot; workspace generation; wrench-feasible; wrench set r
类别
This paper presents a method for analytically generating the boundaries of the wrench-feasible workspace (WFW) for cable robots. This method uses the available net wrench set, which is the set of all wrenches that a cable robot can apply to its surroundings without violating tension limits in the cables. The geometric properties of this set permit calculation of the boundaries of the WFW for planar, spatial, and point-mass cable robots. Complete analytical expressions for the WFW boundaries are detailed for a planar cable robot and a spatial point-mass cable robot. The analytically determined boundaries are verified by comparison with numerical results. Based on this, several workspace properties are shown for point-mass cable robots. Finally, it is shown how this workspace-generation approach can be used to analytically formulate other workspaces.
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