Abstract
This paper proposes an interval-analysis-based algorithm to determine the trajectory-reachable workspace (TRW) of planar two-degree-of-freedom (DOF) cable-suspended parallel robots and planar three-DOF cable-suspended parallel robots. The TRW is a set of target points that the end-effector can reach along a given trajectory under the cable tension constraint. The method includes two sufficient conditions for a continuous set of target points to lie fully inside or outside the TRW. The two conditions can be verified by the implementation of interval-analysis-based methods. On the basis of these two verifiable sufficient conditions, a TRW determination method using branch-and-prune algorithms is presented. This method avoids the discretization of a continuous trajectory set, which guarantees the accuracy of TRW determination. Moreover, this method can determine the TRW when there are small uncertainties regarding the robot geometric parameters . • A new Trajectory-Reachable Workspace (TRW) determination method based on interval analysis. • High accuracy in determination TRW of planar cable-suspended parallel robots. • Computational time advantage in verification that a prescribed workspace belongs to TRW. • Small uncertainties on the geometric parameters can be handled in the determination of TRW.
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