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This study presents formulations of the velocity and force equations for a class of hybrid cable-driven manipulators constrained with serial linkage. Combining lightweight cables with linkages makes these manipulators lighter and more compact compared to all-cable-driven and all-rigid-link manipulators. Redundant actuation is required to keep the cables taut. The paper discusses two configurations:...
Cable-actuated parallel manipulators (CPMs) rely on cables instead of rigid links to manipulate the moving platform in the taskspace. Upper and lower bounds imposed on the cable tensions limit the force capability in CPMs and render certain forces infeasible at the end effector. This paper presents a geometrical analysis of the problems to 1) determine whether a CPM is capable of balancing a given...
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