In this paper, a cable-driven planar parallel haptic interface is presented. First, the velocity equations are derived and the forces in the cables are obtained by the principle of virtual work. Then, an analysis of the wrench-closure workspace is performed and a geometric arrangement of the cables is proposed. Control issues are then discussed and a control scheme is presented. The calibration...

Cable-suspended robots and haptics interfaces are appealing because of their structural simplicity, high stiffness, and high exerted wrench-to-weight ratio. A major drawback is that cables cannot push but can only exert tension. Therefore, actuation redundancy is required; even so, certain configurations and wrenches will fail since they would require one or more cables to push. The objective o...

hile customer acquisition is a constant priority for middle market commercial bankers, the quest has assumed high urgency in today’s volatile market. There is a heightened potential for client turnover as institutions work through capital difficulties and wrenching mergers. And the rising priorities of deposit growth and fee revenue generation have commercial bankers knocking on new doors for n...

Based on the reciprocal relationship of twist and wrench in screw theory, the mathematical model for limb of parallel manipulator is established in this paper. According to the motion modes of mobile platform (translation or rotation), we concluded the geometric conditions which the prismatic joint or revolute joint must meet with by analyzing the constraint screw on the platform, which provide...