Abstract
The dynamic equilibrium of the moving platform of a cable-driven parallel robot can be investigated by means of the Dynamic Feasible Workspace (DFW), which is the set of dynamic feasible moving platform poses. A pose is said to be dynamic feasible if a prescribed set of moving platform accelerations is feasible, with cable tensions lying in between given lower and upper bounds. This paper introduces an extended version of the DFW with respect to the one usually considered in the literature. Indeed, the improved DFW introduced in this paper takes into account: (i) The inertia of the moving platform; (ii) The external wrenches applied on the moving platform and (iii) The centrifugal and the Coriolis forces corresponding to a constant moving platform twist. Finally, the static, wrench-feasible, dynamic and improved dynamic workspaces of a spatial cable-suspended parallel robot are plotted in order to compare their sizes.