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.


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    Title :

    Topology-Feasible Interference-Free Workspace of a Cable-Driven Parallel Robot


    Additional title:

    Mechan. Machine Science


    Contributors:
    Lau, Darwin (editor) / Pott, Andreas (editor) / Bruckmann, Tobias (editor) / Xu, Yuchen (author) / Xiong, Hao (author)

    Conference:

    International Conference on Cable-Driven Parallel Robots ; 2025 ; Hong Kong July 08, 2025 - July 11, 2025


    Published in:

    Cable-Driven Parallel Robots ; Chapter : 14 ; 169-181


    Publication date :

    2025-06-19


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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