ARACHNIS: Analysis of Robots Actuated by Cables with Handy and Neat Interface Software

  • Ana Lucia Cruz Ruiz
  • Stéphane Caro
  • Philippe Cardou
  • François Guay
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 32)


This paper presents ARACHNIS, a graphical user interface for the analysis and parametric design of Cable Driven Parallel Robots (CDPRs). ARACHNIS takes as inputs the design parameters of the robot, the task specifications, and returns a visualisation of the CDPR Wrench Feasible Workspace (WFW) and Interference-Free Constant Orientation Workspace (IFCOW). The WFW is traced from the capacity margin, a measure of the robustness of the equilibrium of the robot. Interferences between the moving parts of a CDPR are also determined by an existing technique for tracing the interference-free workspace of such robots. Finally, the WFW and the IFCOW of a planar cable-driven parallel robot and of a spatial cable-driven parallel robot are plotted in order to demonstrate the potential of ARACHNIS.


Workspace Wrench-feasible workspace Interference  Graphical user interface Capacity margin Static equilibrium Cable-driven robot Wire-driven robot 


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Ana Lucia Cruz Ruiz
    • 1
  • Stéphane Caro
    • 2
  • Philippe Cardou
    • 3
  • François Guay
    • 3
  1. 1.IRCCyNÉcole Centrale de NantesNantesFrance
  2. 2.CNRS–IRCCyNNantesFrance
  3. 3.Laboratoire de robotique, Département de génie mécaniqueUniversité LavalQuebec CityCanada

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