Modeling and Wrench Feasible Workspace Analysis of a Cable Suspended Robot for Heavy Loads Handling

Document Type : Research Paper


1 Department of Mechanical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran

2 Distinguished Professor and Member, Center of Excellence in Design, Robotics and Automation, School of Mechanical Engineering, Sharif University of Technology


Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied wrenches (forces/moments) on the robot. The results show that enlarging the size of fixed platform, increasing vertical payload, reducing applied lateral forces and elimination of applied moments on moving platform, cause expansion of workspaces volumes for the purpose of heavy loads handling.


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