Wrench-feasible workspace based optimization of the fixed and moving platforms for cable-driven parallel manipulators
A new method is developed to estimate the total orientation WFW of CDPMs. The distribution of winches and hinges is optimized by maximizing the total orientation WFW. The mechanical structure property of CDPMs can be obviously improved by optimizing the distribution.
optimization moving platform cable-driven parallel manipulator (cdpm) wrench-feasible workspace (wfw) convex analysis