Cable-based Robot Manipulators with Translational Degrees of Freedom
نویسندگان
چکیده
Cable-based robots build upon mechanisms that not only use rigid links in their structures but also utilize unilateral force elements such as cables to deliver the desired motion. Cables may be either connected to active winches to provide a variable length and hence to actuate the mechanism or may be only to provide a kinematic constraint to eliminate an undesired motion of the endeffector. Manipulators in which the cables have variable lengths are usually called cable-driven or wire-driven manipulators. Cable-based manipulators posses several advantages over conventional serial/parallel link manipulators including:
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