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Cable-driven spherical joint is a 3-DOF closed-loop mechanism which transmits motion and force of the driver on the base to the moving platform via cables. It combines the merits of cable-driven and parallel mechanism. This paper introduces a 4-cable-driven parallel structure with 3-DOF and uses a specific methodology to optimize structural parameters of the spherical joint. Based on the analysis...
Cable-driven mechanisms have high load capacity. Motivating from the latest research results of humanoid-arm bionics and parallel manipulators, a novel design of cable-driven humanoid-arm, which combines the merits of cable-driven and parallel mechanism, is proposed. This paper introduces the specific structure of cable-driven humanoid-arm. The modes of cables distribution and the coupling among joints...
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