Abstract
The large workspace of cable-driven parallel robots is one of their main benefits over conventional parallel robots with rigid links. Therefore, it is crucial to measure its size and analyze its constraints. One of the limits are collisions between the cables and the platform of the robot. They can damage the robot and cause malfunctioning of its control algorithms. In the literature, methods for the detection of this collision type only consider the constant orientation workspace and are ill-suited for platform geometry data supplied from a CAD model.
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