The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed applications such as object manipulator. Usage of cable parallel manipulator depends on kinematic characteristic and control algorithm. This optimization is based on different performance indices including the singularity measure, the kinematic sensitivity, the stiffness and free collision workspace. The stiffness of the cable is also taken into consideration because of its effect on the kinematic stiffness of moving platform manipulators performance. Points with cable collision, singular or actuator wrench infeasible configuration characteristic are eliminating from the entire workspace.
Nasr, Ali, and S. Ali A. Moosavian. "Multi-criteria design of 6-dof fully-constrained cable driven redundant parallel manipulator." In Robotics and Mechatronics (ICROM), 2015 3rd RSI International Conference on, pp. 001-006. IEEE, 2015.