Workspace analysis of a novel 6-dof cable-driven parallel robot

Abstract

This paper presents a novel 6-dof cable-driven parallel robot driven by eight cables and raises the method of designing the 6-dof configuration of the robot. As the basis, the static equilibrium model of the robot is obtained. Based on the achievements of predecessors, the wrench closure workspace (WCW) of the robot is analyzed, and the steps of analyze the translational and rotational WCW are presented. Through the translational WCW analysis of the robot, it reveals the relationship between the dimensions of the cable-driven robot and the translational WCW, which provides a guide to design the cable-driven robot oriented to workspace requirements.