Kinematics-type workspaces reflect the fundamental properties of cable-driven parallel robots (CDPRs). Interference-free workspace (IFW) defined based on interference-free conditions is an extensively studied kinematics-type workspace due to its general significance. However, in cluttered environments, interference-free conditions alone might be insufficient in excluding infeasible poses. To this end, this paper incorporates topological constraints into the workspace analysis of a CDPR. Linking number, a topological invariant, is introduced to quantify the topological constraints imposed by closed-loop structures of a CDPR and obstacles. Based on the topological constraints, the topology-feasible interference-free workspace (TFIFW) is proposed, building upon the IFW, to enhance the workspace analysis of a CDPR in a complex environment, and a corresponding TFIFW generation method is proposed. A case study is provided to highlight the importance of incorporating topological constraints into IFW to achieve an accurate and comprehensive analysis of the kinematics-type workspace of a CDPR.
Topology-Feasible Interference-Free Workspace of a Cable-Driven Parallel Robot
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2025 ; Hong Kong July 08, 2025 - July 11, 2025
2025-06-19
13 pages
Article/Chapter (Book)
Electronic Resource
English
Dynamic Control of a Novel Planar Cable-Driven Parallel Robot with a Large Wrench Feasible Workspace
BASE | 2022
|Tension restrained workspace analysis for cable-driven parallel robot
British Library Online Contents | 2011
|Effect on wrench-feasible workspace of cable-driven parallel robots by adding springs
Online Contents | 2015
|Workspace Analysis of a 4 Cable-Driven Spatial Parallel Robot
British Library Conference Proceedings | 2019
|