Interval Analysis of Controllable Workspace for Cable Robots

Workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cable driven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cable driven redundant parallel manipulators due to the dependency on geometry parameters in the cable driven redundant parallel manipulators. In this paper, a novel tool is presented based on interval analysis for determination of ‎the boundaries and proper assessment of the enclosed region of controllable workspace of cable-driven redundant parallel manipulators. This algorithm utilizes the fundamental wrench interpretation to analyze the controllable workspace of cable driven redundant parallel manipulators. Fundamental wrench is the newly definitions that opens new horizons for physical interpretation of controllable workspace of general cable driven redundant parallel manipulators. ‎Finally, ‎the proposed method is implemented on a spatial cable driven redundant manipulator of interest.