SUMMARY
Cable-driven parallel manipulators (CDPMs) offer advantages over traditional parallel manipulators. Though their ability to accelerate is higher than the traditional motion platforms, the capabilities are often not used optimally. The issues of cable slackening (especially at higher accelerations) and the emergence of singularity poses have traditional limitations. This paper analyzes and generates manipulator configurations that reduce the effect of these two essential hindrances of deploying CDPMs. A methodology, inspired by rigid body dynamics of multiple contact problems, used to optimize the positions of attachment points, is shown to be effective.
This article explores how 15 women members in the nearly all-male constitution-making process contributed to crafting of sex equality in India’s Constitution. Women members, opposed to positive discrimination having faith in personal merit and ability to overcome odds, asserted their voice in India’s Constituent Assembly to redress women’s subordination caused by socio-religious androcentric practices, customs and laws. But the outcomes depended upon the religio-masculine complex which never permitted the issue of gender inequalities to take centrestage in the constitution-making process. However, for women members, as is evident from this enquiry, the mere removal of sex as a constraint upon them was of paramount importance as merit, ability and competence could further help them achieve progress and equalisation. Second, what appears is that in the women's imagination, the guarantee of equality being crafted included an eradication of historical gender inequailities.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.