Proceedings of the International Conference on Mechanics, Materials and Mechatronics (ICM³ 2026)

International Conference on Mechanics, Materials and Mechatronics (ICM³ 2026)

📍Hyderabad, India🗓️ 23-25 March 2026
<Previous Article In Volume
Next Article In Volume>

Genetic Algorithm Based Optimization of Cable Attachment Geometry for Maximising Tensionable Workspace in a Planar Cable-Driven Manipulator

Authors
Premjit Rananavare1, Sanjeevi Nakka2, *
1M.Tech Student, Mechanical Engineering, NITK, Surathkal, India
2Assistant Professor, Mechanical Engineering, NITK, Surathkal, India
*Corresponding author. Email: sanjeevinakka@nitk.edu.in
Corresponding Author
Sanjeevi Nakka
Available Online 4 September 2026.
DOI
10.2991/978-94-6239-764-4_17How to use a DOI?
Keywords
Cable-driven robots; Tensionable workspace; Cable attachment optimization; Genetic Algorithm
Abstract

Cable-driven manipulators are used in applications like rehabilitation devices, assistive exoskeletons, and lightweight manipulators due to low inertia, high force transmission capability, and flexible design architecture. Since cables can only transmit tensile forces, the ability of these systems to generate the desired wrench is limited to the tensionable workspace where all cables remain under positive tension. The size and shape of this workspace depend on the cable attachment points on the robot links. Optimizing these parameters is important for improving the operational capability of cable-driven manipulators. This work presents a Genetic Algorithm (GA) based optimization framework to determine optimal cable attachment parameters that maximise tension feasibility along a predefined joint trajectory. The study considers a planar two-link serial manipulator actuated by four cables. Cable attachment geometry is defined using two parameters the distance from the joint center along the link (d) and the offset distance from the link axis (h). The proposed optimization method identifies cable attachment parameters that ensure positive cable tensions within specified bounds throughout the trajectory, thereby improving the system’s tensionable workspace.

Copyright
© 2026 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Download article (PDF)

<Previous Article In Volume
Next Article In Volume>
Volume Title
Proceedings of the International Conference on Mechanics, Materials and Mechatronics (ICM³ 2026)
Series
Atlantis Highlights in Engineering
Publication Date
4 September 2026
ISBN
978-94-6239-764-4
ISSN
2589-4943
DOI
10.2991/978-94-6239-764-4_17How to use a DOI?
Copyright
© 2026 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Cite this article

risenwbib
TY  - CONF
AU  - Premjit Rananavare
AU  - Sanjeevi Nakka
PY  - 2026
DA  - 2026/09/04
TI  - Genetic Algorithm Based Optimization of Cable Attachment Geometry for Maximising Tensionable Workspace in a Planar Cable-Driven Manipulator
BT  - Proceedings of the International Conference on Mechanics, Materials and Mechatronics (ICM³ 2026)
PB  - Atlantis Press
SP  - 200
EP  - 215
SN  - 2589-4943
UR  - https://doi.org/10.2991/978-94-6239-764-4_17
DO  - 10.2991/978-94-6239-764-4_17
ID  - Rananavare2026
ER  -