Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area


Date of this Version

September 2004


Postprint version. Published in Proceedings of the 2004 ASME International Design Engineering Technical Conference (DETC 2004), 28th Biennial Mechanisms and Robotics Conference, Volume 2B, pages 1303-1310.


While there is extensive literature available on parallel manipulators in general, there has been much less attention given to cable-driven parallel manipulators. In this paper, we address the problem of analyzing the reachable workspace using the tools of semi-definite programming. We build on earlier work [1,2] done using similar techniques by deriving limiting conditions that allow us to compute analytic expressions for the boundary of the reachable workspace. We illustrate this computation for a planar parallel manipulator with four actuators.



Date Posted: 09 November 2005