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A Solution for interference between mobile platform and wires in wire-driven parallel manipulators

In the wire-driven parallel suspension system, interference between wires and a mobile platform will limit the movement of the platform so that the expected workspace can not be reached and the motion control is not achieved. A mathematical model has been built for the interference problem, when the mobile platform moves at a single pitching degree of freedom. By the model, the interference points between the platform and wires can be determined. And a solution has been presented to avoid the interference. It has been proved that the solution can enlarge the actual workspace of the wire-driven parallel manipulators by using a suitable example and through feasible mathematical analysis. The result shows that the proposed solution in this paper is valid for coping with the interference problem in wire-driven parallel manipulators.