Mathematical Problems in Engineering / 2013 / Article / Alg 1

Research Article

Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator

Algorithm 1

Flowchart of generating the workspace of the HDCPM.
Do While  
     Do While  
          If     Then
           From is determined.
           Similarly, , and can be calculated, respectively.
          End If
Various combinations of for calculating coordinates by
and those satisfying motion range of the end-effector
and tension condition will generate the workspace