Collision free force closure workspace determination of reconfigurable planar cable driven parallel robot

This paper considers the problem of Collision Free Force Closure Workspace (CFFCW) determination for Reconfigurable Planar Cable-Driven Parallel Robots (RPCDPRs). The cluttered obstacles in environment and the radiate cable structure make this problem highly nontrivial. Firstly, the simplified model of general RPCDPR that with cluttered environment is proposed. Then, the critical support lines of obstacles together with the topological constraint of RPCDPRs are adopted to find the Collision-Free Area (CFA) from multi-obstacle environment. And inspired by grasps with friction, an algorithm that based on convexhull and convex hull mapping method is used to deal with the motion ranges of cable and CFFCW of RPCDPRs. Finally, the algorithm is demonstrated on several types of RPCDPRs and environments. The simulation results show that the proposed approach can effectively detect the CFFCW of RPCDPRs.