Tampere University of Technology

TUTCRIS Research Portal

Geometrical workspace analysis of a cable-driven redundant parallel manipulator: KNTU CDRPM

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS.
Place of PublicationNice
PublisherInstitute of Electrical and Electronics Engineers IEEE
Number of pages6
ISBN (Print)978-1-4244-2057-5
Publication statusPublished - 22 Sep 2008
Publication typeA4 Article in a conference publication
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. - Nice, France
Duration: 22 Sep 200826 Sep 2008


ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.


KNTU CDRPM is a cable driven redundant parallel manipulator, which is under investigation for possible high speed and large workspace applications. This newly developed mechanisms have several advantages compared to the conventional parallel mechanisms. Its rotational motion range is relatively large, its redundancy improves safety for failure in cables, and its design is suitable for long-time high acceleration motions. In this paper, collision-free workspace of the manipulator is derived by applying fast geometrical intersection detection method, which can be used for any fully parallel manipulator. Implementation of the algorithm on the Neuron design of the KNTU CDRPM leads to significant results, which introduce a new style of design of a spatial cable-driven parallel manipulators. The results are elaborated in three presentations; constant-orientation workspace, total orientation workspace and orientation workspace.

ASJC Scopus subject areas


  • redundant manipulators, parallel robots

Publication forum classification