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

Figure 8

The three force performance indices in the workspace.

(a) ℜ_⟂ on the vertical midline 𝑥=18.5 m and 𝑦=20 m

(b) ℜ₋ on the horizontal plane 𝑧=10 m

(c) ℜ on the middle vertical plane 𝑦=20 m

(d) ℜ on the middle vertical plane 𝑥=18.5 m

(e) ℜ on the horizontal plane 𝑧=10m

(f) ℜ=0.4 in the workspace