Analysis of Planar Multilink Cable Driven Robots Using Internal Routing Scheme

Ramadoss, Vishal; Lau, Darwin; Zlatanov, Dimiter; Zoppi, Matteo

doi:10.1115/1.0002122v

Cited by 2 publications

(3 citation statements)

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“…For the 3-cable scheme, there are only six constraints defined by Eqs. ( 5) and (6). As an illustration, these constraints are shown in Fig.…”

Section: Instantaneous Velocity Analysismentioning

confidence: 99%

“…In order to do this, it is firstly necessary to qualify the points (x, y) in the task space, to define a workspace for this manipulator. Several such definitions exist in the literature of cable-driven robots, e.g., wrench-closure workspace [6], wrench-feasible workspace [8]. In this study, a stable wrench-feasible workspace will be used.…”

Section: Global Performance Inside the Task Spacementioning

confidence: 99%

“…Unlike cable-driven parallel robots, the literature dedicated to cable-driven serial robots [5] is relatively sparse. A difficult challenge that exists in these robots is to find a suitable cable routing scheme [6]. The force-closure analysis of cable-driven open chains has been performed using reciprocal screw theory in [7].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategies

Muralidharan

Wenger

Chevallereau

2022

Advances in Robot Kinematics 2022

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This paper analyzes the instantaneous kinematic and static performance of a two degree-of-freedom serial manipulator composed of anti-parallelogram (or X-) tensegrity joints and remotely driven with cables. Two actuation schemes with 4 cables and 3 cables, respectively, are considered for this manipulator. The physical limitations on the velocities and forces of the actuating cables are mapped onto the task space of the manipulator, to quantify the corresponding velocity and force-application capabilities of the end-effector. A comparative study is carried out between the 4-cable and 3-cable actuation schemes in terms of their velocity and force performance.

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“…For the 3-cable scheme, there are only six constraints defined by Eqs. ( 5) and (6). As an illustration, these constraints are shown in Fig.…”

Section: Instantaneous Velocity Analysismentioning

confidence: 99%

Section: Global Performance Inside the Task Spacementioning

confidence: 99%