A Comparative Study of Methods for Determining Wrench Feasible Workspace of Cable-Driven Parallel Mechanisms
The wrench feasible workspace (WFW) of a cable-driven parallel mechanism is defined as the set of poses of its moving platform where the cables of the mechanism can generate a given set of wrenches,when considering admissible minimum and maximum tensions in the cables.From a design perspective,it is important to determine WFW fast and accurately.To this end,different methods have been proposed in previous work.For the particular WFW within which the cables can apply a prescribed force and a prescribed moment in any direction,the interval-analysis-based method is extended in this paper.Taking a planar 3-DOF cable-driven parallel mechanism as an example,a comparative performance analysis of three methods for determining the WFW,including convex hull method,hyperplane shifting method and interval-analysis-based method,is presented.The results show that among the three methods,hyperplane shifting method and convex hull method are more accurate and interval-analysis-based method is the most time efficient.
Wrench Feasible Workspace Cable-Driven Parallel Mechanism
Yu Zou Yuru Zhang
State Key Laboratory of Virtual Reality Technology and System,Beihang University,Beijing 100191,China
国际会议
天津
英文
1-6
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）