Interference Determination for Parallel Cable-Driven Robots

This paper develops an approach to overcome the misjudgment and omission problems of determining interference for parallel cable-driven robots, which is essential to clear interference classification in the first place. According to the clear classification, interference condition between a cable and a cable or a cable and an edge of the end-effector has been derived according to all kinds of position relations between the feet of the common perpendicular; the on a cable with a plane of the end-effector has been proved. Compared with the existing approaches, the proposed method can determine the interference region more reasonably.