Wrench-feasible workspace based optimization of the fixed and moving platforms for cable-driven parallel manipulators

To improve the mechanical structure of cable-driven parallel manipulators (CDPMs), this paper optimizes the distribution of winches on the fixed platform and hinges on the moving platform by maximizing the total orientation wrench-feasible workspace (WFW). A convex analysis method is developed to estimate the total orientation WFW of CDPMs. The effect of the distribution of winches and hinges on the WFW is investigated for spatial 6-DOF redundantly restrained CDPMs, and the optimal size of the CDPMs can be obtained by the grouped coordinate descent (GCD) method. The optimization algorithm is implemented on a 6-DOF spatial CDPM with eight cables. The simulation results indicate that the mechanical property of CDPMs can be improved by optimizing the distribution of winches and hinges.