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  1. Home
  2. Indian Institute of Technology Madras
  3. Publication4
  4. Identifying the largest sphere inscribed in the constant orientation wrench-closure workspace of a spatial parallel manipulator driven by seven cables
 
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Identifying the largest sphere inscribed in the constant orientation wrench-closure workspace of a spatial parallel manipulator driven by seven cables

Date Issued
01-01-2019
Author(s)
Shahi, Ambuj
Bandyopadhyay, Sandipan 
Indian Institute of Technology, Madras
DOI
10.1007/978-3-030-20751-9_14
Abstract
This paper presents a methodology to find the largest sphere inside the constant orientation wrench-closure workspace of spatial cable-driven parallel robots driven by seven cables. The sphere is centred at a prescribed point of interest and is obtained for a given orientation of the moving platform. The method builds upon the analytical description of the boundary of the constant orientation wrench-closure workspace to obtain the desired spheres. The problem has been reduced to solving seven systems, each consisting of three cubic polynomial equations in three unknowns. A computer algebra system (CAS) has been used to solve these systems of equations, using a formulation based on Sylvester’s dialytic elimination and generalised eigenproblem, which has been illustrated through an example.
Volume
74
Subjects
  • Cable robots

  • Cable-driven parallel...

  • Parallel robots

  • Singularity-free sphe...

  • Wrench-closure worksp...

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