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# On the Design of Cable-Suspended Planar Parallel Robots

[+] Author and Article Information
Abbas Fattah

Mechanical Systems Laboratory, Department of Mechanical Engineering,  University of Delaware, Newark, DE 19716

Sunil K. Agrawal

Mechanical Systems Laboratory, Department of Mechanical Engineering,  University of Delaware, Newark, DE 19716fattah@me.udel.edu

J. Mech. Des 127(5), 1021-1028 (Oct 28, 2004) (8 pages) doi:10.1115/1.1903001 History: Received April 06, 2004; Revised October 28, 2004

## Abstract

In this paper we present a workspace analysis methodology that can be applied for optimal design of cable-suspended planar parallel robots. The significant difference between regular parallel robots and cable-suspended parallel robots is that the cables in cable-suspended robots can only carry tension forces. The workspace of a planar cable robot is characterized as the set of points where a reference point of moving platform can reach with tensions in all suspension cables. In the design of cable-suspended parallel robots, the suspension points of the cables, size and shape of the moving platform are the design variables. The workspace area and global condition index are used as the objective functions to optimize the design parameters. The global condition index is a measure of isotropicity of the manipulator. The design variables are determined for different numbers of cables using both objective functions at a specified orientation and also at different orientations of moving platform. Experimental results to measure the workspace area demonstrate the effectiveness of this method.

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Topics: Robots , Cables , Design

## Figures

Figure 1

A planar cable robot: (a) Modeling and (b) MP and cable i

Figure 2

(i) Modeling of the two-cable robot, (ii) the hyperbolic line (a), oblique line (b), and two vertical lines (c) for θe=π∕4

Figure 3

Modeling of the three cable robot

Figure 4

The workspace area for three-cable robot: (a) Geometry analysis, and (b) point analysis

Figure 5

The optimal workspace for three-cable robot: (a) θe=30° and (b) θe=90°

Figure 6

The well-conditioned optimal workspace for 3-cable robot: (a) θe=30° and (b) θe=90°

Figure 7

(a) A three-cable robot with the rectangular MP with the maximum workspace area, (b), (c), and (d). The simulation and experimental results for tensions of the cables in three-cable robot

## Errata

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