Abstract
Cable robots or wire driven robots possess many advantages that make them very well suited to be used as haptic interfaces. They exhibit very low inertia and very low friction because of their very light mechanical structure. The use of cables, however, leads to an under-constrained system which shows complex properties. The main drawback is difficulty to estimate useful workspace, and maximum tension in cables, as relation between maximum force at tip of interface and maximum tension in cables can not be easily established. In this paper we present a method to calculate these tensions in a given workspace and to estimate what we have called the tension capable workspace for a 4 cables 3 d.o.f (degree of freedom) haptic interface. We then use this method to design a new singularity free architecture and compare it to more classical architectures in terms of workspace and maximum tension.
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