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This paper investigates the design, workspace, and analysis of completely restrained cable manipulators (CRCM) with 3 Degrees of Freedom (DOF). The design of the drive transmission system and integrated CRCM system is developed. According to the equivalent circuit of the servo mechanism, the dynamic formulation of the electromechanical coupling system for CRCM is studied. The workspace of the CRCM...
This paper is concerned with control system of cable- supporting parallel mechanisms (CPM) including actuator dynamics. Firstly, the dynamic formulation of the CPM with actuator dynamics was established. Secondly, considering the inherent characteristics of nonlinearity, slow time-variant, and multivariable coupled system, a decentralized control approach is proposed, and a fuzzy control plus proportional-integral...
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