Abstract: This article proposes modeling, simulation and
kinematic and workspace analysis of a spatial cable suspended robot
as incompletely Restrained Positioning Mechanism (IRPM). These
types of robots have six cables equal to the number of degrees of
freedom. After modeling, the kinds of workspace are defined then an
statically reachable combined workspace for different geometric
structures of fixed and moving platform is obtained. This workspace
is defined as the situations of reference point of the moving platform
(center of mass) which under external forces such as weight and with
ignorance of inertial effects, the moving platform should be in static
equilibrium under conditions that length of all cables must not be
exceeded from the maximum value and all of cables must be at
tension (they must have non-negative tension forces). Then the effect
of various parameters such as the size of moving platform, the size of
fixed platform, geometric configuration of robots, magnitude of
applied forces and moments to moving platform on workspace of
these robots with different geometric configuration are investigated.
Obtained results should be effective in employing these robots under
different conditions of applied wrench for increasing the workspace
volume.