Abstract
The workspace of wire robots is limited due to three factors: minimal and maximal lengths of the wires, static equilibrium that imposes to have a positive only force in the wires and wires interference (either intersection between 2 wires or between a wire and the end-effector). The limitation by the two first factors may be reduced by having wires with a large coiling ability and by increasing the number of wires. We propose in this paper algorithms that allow to study the influence of wire/wire and wire/end-effector interference on the workspace, assuming a fixed orientation of the end-effector. These algorithms allow one to determine exactly which region of the workspace is interference free.
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Merlet, JP. (2004). Analysis of the Influence of Wires Interference on the Workspace of Wire Robots. In: Lenarčič, J., Galletti, C. (eds) On Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-2249-4_23
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DOI: https://doi.org/10.1007/978-1-4020-2249-4_23
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