On the Minimum Cable Tensions for the Cable-Based Parallel Robots

Figure 5

𝑇_min on the sections of the workspace for the camera robot.

(a) 𝑇_min on the middle vertical plane 𝑦=20 m

(b) 𝑇_min on the middle vertical plane 𝑥=18.5 m

(c) 𝑇_min on the vertical midline 𝑥=18.5 m and 𝑦=20 m

(d) 𝑇_min on the horizontal plane 𝑧=0 m