Maximum payload of cable-based planar manipulator for two given end points of end-effector using optimal control approach

This paper describes the planar cable-based mechanism as a haptic device , followed by dynamics modeling , trajectory planning and attempting to maintain positive cable tensions for all motion including a method for determination of the maximum -payload trajectory of cable-based parallel manipulator on the basis of the optimal control approach.

Keywords:

cable-based parallel manipulator , dynamic load carrying capacity