J -P. Merlet

Computing Cross-Sections of the Workspace of Suspended Cable-Driven Parallel Robot with Sagging Cables Having Tension Limitations

Although workspace is essential for the design and control of cable-driven parallel robots (CDPR) very few works have been devoted to this topic when sagging cables are considered, most probably because of the complexity of the cable model. In this paper we consider suspended CDPR with sagging cable…