Influence of cables layout on the dynamic workspace of a six-DOF parallel marine manipulator

In this paper, dynamic performance and workspace of four cable layouts of a parallel robotic marine platform (PRMP) are analyzed. The four cable layouts are called 3-3, 6-6, 6-3, and 3-6 PRMPs. There are six-degrees-of-freedom (DOF) cylindrical floating structures and twelve cables anchored to the seabed. Their workspaces are identified with/without the effects of the environmental loads. In order to provide necessary motion to compensate the environmental loads, cable tensions are applied to keep the floating platforms rigid while they move horizontally due to the environmental loads. The PRMPs are analyzed in the framework of rigid-body dynamics. This work aims to improve the performance of the PRMPs.