Analytical Solution to Find the Interference Boundaries of Planar Cable-Driven Mechanisms

@inproceedings{Heidari2017AnalyticalST,
  title={Analytical Solution to Find the Interference Boundaries of Planar Cable-Driven Mechanisms},
  author={Omid Heidari and Saeed Behzadipour},
  year={2017}
}
Cable interference in cable-driven mechanisms (CDM) is a major challenge in their applications. The wrench closure workspace (WCW) in a fully constrained mechanism may not be realized unless cable interference is considered. This paper classifies all possible types of cable interferences for planar cable-driven mechanisms and presents an analytical solution to find the boundaries of the constant-orientation interference region. It is shown that interference between cables starts and ends when… 
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