NOTICE: Due to a lapse in annual appropriations, most of this website is not being updated. Learn more.

Form submissions will still be accepted but will not receive responses at this time. Sections of this site for programs using non-appropriated funds (such as NVLAP) or those that are excepted from the shutdown (such as CHIPS and NVD) will continue to be updated.

U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

PUBLICATIONS

Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot

Published

Author(s)

H C. Pusey, A Fattah, S K. Agrawal, Elena R. Messina, Adam S. Jacoff

Abstract

In this paper, we study the design and workspace of a 6-6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the MP (MP) can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing the variations of the workspace volume and the accuracy of the robot using different geometric configurations, different sizes and orientations of the MP. The global condition index is used as a performance index of a robot with respect to the force and velocity transmission over the whole workspace. The results are used for design analysis of the cable-robot for a specific motion of the MP.
Proceedings Title
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Conference Dates
October 1, 2003
Conference Location
Las Vegas, NV, USA
Conference Title
IEEE/RSJ International Conference on Intelligent Robots and Systems
Pub Type
Conferences

Download Paper

Local Download

Keywords

Performance Metric, Robot Crane, Robotics & Intelligent Systems

Citation

Pusey, H. , Fattah, A. , Agrawal, S. , Messina, E. and Jacoff, A. (2003), Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot, Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=822589 (Accessed October 15, 2025)

Issues

If you have any questions about this publication or are having problems accessing it, please contact [email protected].

Created September 30, 2003, Updated October 12, 2021
Was this page helpful?