Abstract
A novel 6 dof 8 cable-driven parallel robot (CDPR) is proposed. The proposed CDPR, Octave, has a pulley embedded inside moving part (MP). Octave has large rotational workspace. Octave must satisfy two conditions, wrench-closure condition. The rank of the transpose Jacobian matrix JdxT doesn't fall into deficient. At the same time, all elements of the null space vector of the transposed Jacobian matrix JdxT share the same signum. When the two conditions are satisfied, the robot is appreciated as a CDPR. In this paper, firstly, wrench-closure condition is discussed. Then, MP of Octave satisfying wrench-closure condition is proposed. Finally, Wrench closure workspace extracted.
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