Manipulator Deflection for Optimum Tension of Cable-Driven Robots with Parameter Variations

Analytical formulation for positive cable tension is presented when the variations in parameters/data of parallel robot manipulators result in the interval form of the Jacobian matrix and external wrench. Solutions for cable tension vector, including the minimum 2-norm non-negative solution, and the pertinent deflection of manipulator due to cable stiffness and change in geometric parameters, are discussed. Example manipulators are simulated to examine the methods.