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Efficient Computation of the Workspace Boundary, Its Properties and Derivatives for Cable-Driven Parallel Robots

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Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 50))

Abstract

The workspace is an important property in the design of every cable-driven parallel robot. As the workspace is a complicated geometric object, it is difficult to describe changes in shape and size of the workspace when varying the design parameters of the robot. In this paper, we present an efficient method called differential workspace hull to describe and compute the workspace properties. The method is based on a triangulation of the surface of the robot’s workspace. Furthermore, we establish an algorithm that allows to compute the influence of small changes in the design parameters on the workspace shape. A numerical example underlines the computational efficiency and accuracy of the presented method.

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Acknowledgements

The author would like to thank the German Research Foundation (DFG) for financial support of the project within the Cluster of Excellence in Simulation Technology (EXC 310/1) at the University of Stuttgart.

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Authors and Affiliations

  1. Institute for Control Engineering and Manufacturing Units, University of Stuttgart, Stuttgart, Germany

    Andreas Pott

Authors
  1. Andreas Pott
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Correspondence to Andreas Pott .

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Editors and Affiliations

  1. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    Saïd Zeghloul

  2. American University of Sharjah, UAE, on leave from the National School of Engineering of Sousse , Sousse Erriadh, Tunisia

    Lotfi Romdhane

  3. SP2MI, Téléport 2, University of Poitiers, Poitiers, France

    Med Amine Laribi

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Pott, A. (2018). Efficient Computation of the Workspace Boundary, Its Properties and Derivatives for Cable-Driven Parallel Robots. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham. https://doi.org/10.1007/978-3-319-60867-9_22

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  • DOI: https://doi.org/10.1007/978-3-319-60867-9_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-60866-2

  • Online ISBN: 978-3-319-60867-9

  • eBook Packages: EngineeringEngineering (R0)

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