DYNAMIC WORKSPACE OF A HIGH-SPEED CABLE-DRIVEN CAMERA ROBOT

Firstly, a quick optimal arithmetic of the tensions for the high speed cable-driven camera robot is proposed based on the minimum 2-norm. Secondly, a uniform solution strategy for the dynamic workspace is obtained by the set theory. Furthermore, the dynamic workspace under the given structural parameters is simulated, and the forming reason of the workspace top is analyzed through the change mechanisms of lengths and tensions of the cables when the robot moves along the specific curves on the workspace top. Finally, the relations between reachable area of the workspace bottom and the heights of the masts are studied by means of the bottom section views, from which some reasonable selection criterions for the mast heights are obtained.