WRENCH CAPABILITY ANALYSIS OF CABLE-DRIVEN PARALLEL MECHANISMS

The maximum wrench capabilities of the cable-driven parallel mechanisms are investigated in this paper. Focusing on accuracy and efficiency, two methods, an optimization-based method and a hybrid method based on optimization and geometry, are presented for determining the wrench capability of the cable-driven parallel mechanisms. Both methods are applied to a 6-DOF cable-driven parallel mechanism with eight cables to compute the maximum isotropic force and maximum isotropic moment. Comparison of the two methods is made. The results show that the hybrid method proposed is more accurate and computationally efficient.Copyright © 2011 by ASME

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