Abstract
This paper presents a new method to identify the best operation regions for a planar cable-driven system based on the calculation of the maximum isotropic force at all the discrete points within the manipulator’s workspace. The proposed method is based on the obtention of four vectorial subspaces in which a new mathematical closed-form solution proposed by the authors is applied in order to obtain the maximum isotropic force generated for each vectorial subspace. Once obtained the maximum isotropic force for each vectorial subspace, is chosen the minimum of them as the maximum generalized isotropic force of the system. The proposed method is applied in four different study cases in which the positions of the vertices in the mobile platform are modified in order to obtain a rectangular workspace, a rectangular trapezoidal workspace, a trapezoidal workspace, and a parallelogramic workspace .
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Authors would like to thank to the Federal University of Santa Catarina which has made the present work possible.
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Mejia, L., Frantz, F., Ponce, D., Martins, D. (2022). Best Operation Regions in a Planar Cable Driven System. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_11
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DOI: https://doi.org/10.1007/978-3-031-08140-8_11
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