WORKSPACE ANALYSIS OF A SIX DOF WIRE-DRIVEN PARALLEL MANIPULATOR

摘要: This paper presented a novel six degrees of freedom (DOF) wire-driven parallel kinematic manipulator (PKM) with seven wires. In the proposed manipulator, one end of each wire is connected to the moving platform with a spherical joint and the other end is connected to a pulley which is driven by a servo motor. The authors investigated the workspace analysis of the six DOFs wire-driven PKM, including controllable workspace (WS) based on the concept of Vector Closure, workspace with tension conditions (WST) based on the Nullspace Method and workspace with stiffness conditions (WSS) based on the Eigenvalue Method. Finally, a case study was presented to demonstrate the application of the methodology to determine the controllable workspace, the WST and WSS using Monte-Carlo technique under the Matlab environment. The results show that the workspaces of different manipulators with different …