Titlebook: Cable-Driven Parallel Robots; Proceedings of the 4 Andreas Pott,Tobias Bruckmann Conference proceedings 2019 Springer Nature Switzerland AG

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Computation of the interference-free wrench feasible workspace of a 3-DoF translational tensegrity rincorporating variable radius drums are used to emulate linear compression springs that replace the struts of the tensegrity system from which the robot is inspired. The workspace is computed based on the interval analysis evaluation of constraints related to the kinematics of the equivalent spring

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An Overlay Tree Building Control Protocolsuring acceptable cable tensions. Sufficient conditions for the satisfaction of these constraints that may be suitably evaluated using interval analysis are developed. Results suggest that the size of the workspace may be increased by introducing pre-load in the robot’s components.

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2211-0984 This volume gathers the latest advances, innovations and applications in the field of cable robots, as presented by leading international researchers and engineers at the 4th International Conference on Cable-Driven Parallel Robots (CableCon 2019), held in Krakow, Poland on June 30-July 4, 2019, as

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