Research on Orientation Workspace of the Redundant Wire-Driven Parallel Manipulator

A redundant wire-driven parallel manipulator is applied to wind tunnel test of air vehicle model,and the workspace is an important index on evaluating work ability of the redundant wire-driven parallel manipulator and an important basis of the parallel mechanism design.Based on the algorithm nonsingular workspace,an algorithm for orientation workspace of the redundant wire-driven parallel manipulator is analyzed,and practical orientation workspace is proposed.Examples for nonsingular orientation workspace and practical orientation workspace of a redundant wire-driven parallel manipulator are given to demonstrate these theoretical results by the computer simulation,and the important theory could be applied to the redundant wire-driven parallel manipulator.