Abstract
The workspace is limited in the fixed parameters of cable-driven parallel mechanism and interference often happens between cables and surfaces of actuator. The fundamental basis of metamorphic mechanisms is addressed in accordance with the design, kinematics and dynamics, as well as the compliant metamorphic mechanisms. Metamorphic structure was applied to the cable-driven parallel mechanism. The more adaptive metamorphic mechanism is the full mobile hinge, which provided whole workspace of the frame. Through adding the adaptive hinge, the workspace was extended. The new methods of distant to detect interference between cables and faces of actuator was discussed and applied to a 6 DOF cable-driven parallel mechanism. Comparing with other methods of calculation of interference, it showed more accurate and provided a function to metamorphic control. The volume of interference was coherent and the force of cable was smoother to control when testing the high angle of attack.
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