Kinematic performance indices analyzed on four planar cable robots via interval analysis

In this paper, some new kinematic performance indices are proposed and examined on four planar cable driven parallel manipulators. The main kinematic indices are based on kinematic sensitivity and controllable workspace of the robot. Interval analysis is adopted as a mathematical framework to compute feasible kinematic sensitivity and worst kinematic sensitivity indices. For determining the feasible kinematic sensitivity, the controllable workspace is combined with the desired kinematic sensitivity property. The area of the foregoing region and the worst kinematic sensitivity corresponding to it are introduced as practical design indices. Then four typical design of planar cable robot are examined by the following performance measures, and one of such designs are selected and implemented in practice.