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

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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  • DOI: 10.1007/978-3-319-09489-2_21
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Correspondence to Philippe Cardou .

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© 2015 Springer International Publishing Switzerland

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Ruiz, A.L.C., Caro, S., Cardou, P., Guay, F. (2015). ARACHNIS: Analysis of Robots Actuated by Cables with Handy and Neat Interface Software. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 32. Springer, Cham.

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  • Print ISBN: 978-3-319-09488-5

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