Amirkabir University of Technology AUT Journal of Electrical Engineering 2588-2910 45 1 2013 10 01 Interval Analysis of Controllable Workspace for Cable Robots Interval Analysis of Controllable Workspace for Cable Robots 1 8 423 10.22060/eej.2013.423 EN A. Zarif Loloei Assistant Professor, Department of Electrical Engineering, Pardis Branch, Islamic Azad University, Pardis, Tehran, Iran H. D. Taghirad Professor, Department of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran N. N. Kouchmeshky M.Sc. Student, Department of Computer Engineering, Arak Branch, Islamic Azad University, Arak, Iran Journal Article 2015 10 06 Workspace analysis is one of the most important issues in the robotic parallel manipulator design. <br />‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cable<br />driven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cable<br />driven redundant parallel manipulators due to the dependency on geometry parameters in the cable driven<br />redundant parallel manipulators. In this paper, a novel tool is presented based on interval analysis for<br />determination of ‎the boundaries and proper assessment of the enclosed region of controllable workspace of<br />cable-driven redundant parallel manipulators. This algorithm utilizes the fundamental wrench interpretation<br />to analyze the controllable workspace of cable driven redundant parallel manipulators. Fundamental wrench<br />is the newly definitions that opens new horizons for physical interpretation of controllable workspace of<br />general cable driven redundant parallel manipulators. ‎Finally, ‎the proposed method is implemented on a<br />spatial cable driven redundant manipulator of interest. https://eej.aut.ac.ir/article_423_bc8316a2ccce3822e02e02fb0eb2e2fc.pdf