Determining Feasible Cable Attachment Locations for Cable-Driven-Parallel Robot

Cable-Driven Parallel Robots (CDPRs) offer significant potential in applications requiring large workspaces. However, determining the locations of the cable attachment points (or called the cable exit points) remains a critical design challenge. This work addresses the design challenge of the fully-constrained CDPRs by proposing a novel method to identify feasible regions for cable attachment points. Building on polynomial optimization frameworks from the previous work, this approach simplifies the evaluation of wrench-closure workspace conditions, while minimizing computational effort. By visualizing feasible attachment regions and introducing a prioritized reconfiguration index (PRI), the method provides practical insights for optimizing cable placement and designing reconfigurable mechanisms. Results demonstrate its effectiveness in identifying feasible configurations for m=n+1 systems where m is cable number and n is the degree-of-freedom, helping designers to intuitively obtain the feasible regions and select appropriate configurations based on workspace requirements.