Design of a Singularity Free Architecture for Cable Driven Haptic Interfaces

Design and implementation of a cable-driven parallel robot for additive manufacturing applications

“…It is possible to use a rotating threaded winch with the help of a fixed cable exit point (Figure 5). This exit point can be just a simple hole as in [42,43,29]. To reduce the friction of the cable, the hole can be replaced by a pulley with 2 degrees of freedom in rotation [44].…”

Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots

“…Isotropic design of two types of spatial parallel manipulators: a threedegrees-of-freedom and the Stewart-Gough platform has been studied (Fattah & Ghasemi, 2002), a geometrical approach for the study and design of cable parallel robots are presented in (Behzadipour & Khajepour, 2004), best design for planar cable-direct-driven robot and haptic interfaces with one degree of actuation redundancy has been studied in Williams and Gallina (2002), complete kinematic and manipulability analyses for a planar 4 wire driven 3-DOF mechanism are presented in Gallina and Rosati (2002), analysis of the best kinematic performance for a 6-6 cable-suspended parallel robot is conducted in Hadian and Fattah (2008). Recently, there are some important investiga-tions on the workspace of cable robots (Brau, Gosselin, & Lallemand, 2005;Gouttefarde & Gosselin, 2006;Bosscher & Riechel, 2006;Diao & Ma, 2007;Bruckmann, Mikelsons, Hiller, & Schramm, 2007;Gouttefarde, Merlet, & Daney, 2006;Verhoeven & Hiller, 2002). However, to the best knowledge of the authors, there is not any research work on the isotropic posture of cable robots.…”