Planar cable-direct-driven robots: Design for wrench exertion

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 35, Issue 2, 2002, Pages 203-219

  Williams II, Robert L ^a   Gallina, Paolo ^b  

^a US Institute of Navigation   (United States)

^b UNIVERSITY OF PADOVA   (Italy)

Author keywords

Actuation redundancy; Cable interference; Cable robot design; Cable direct driven robots; Wrench exertion workspace

Indexed keywords

ACTUATORS; CABLES; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); HAND TOOLS; HAPTIC INTERFACES; REDUNDANCY; STIFFNESS; TENSILE STRESS;

ACTUATION REDUNDANCY; CABLE INTERFERENCE; CABLE ROBOT;

ROBOTICS;

EID: 0036818515     PISSN: 09210296     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1021158804664     Document Type: Article

References (12)

1. Albus, J. S., Bostelman, R., and Dagalakis, N. G.: 1993, The NIST ROBOCRANE, J. Robotic Systems 10(5), 709-724.
2. Burdea, G. C.: 1996, Force and Touch Feedback for Virtual Reality, Wiley, New York.
3. Campbell, P. D., Swaim, P. L., and Thompson, C. J.: 1995, Charlotte robot technology for space and terrestrial applications, in: 25th Internat. Conf. on Environmental Systems, San Diego.
4. Gosselin, C. M.: 1996, Parallel computation algorithms for the kinematics and dynamics of planar and spatial parallel manipulators, J. Dynamic Systems Measm. Control 118(1), 22-28.
5. Ishii, M. and Sato, M.: 1994, A 3D spatial interface device using tensed strings, in: Presence-Teleoperators and Virtual Environments (MIT Press, Cambridge, MA) 3(1), pp. 81-86.
6. Kawamura, S. and Ito, K.: 1993, New type of master robot for teleoperation using a radial wire drive system, in: Proc. of the IEEE/RSJ Internat. Conf. on Intelligent Robots and Systems, Yokohama, Japan, July 26-30, pp. 55-60.
7. Lindemann, R. and Tesar, D.: 1989, Construction and demonstration of a 9-string 6-DOF force reflecting joystick for telerobotics, in: NASA Internat. Conf. on Space Telerobotics, Vol. 4, pp. 55-63.
8. Roberts, R. G., Graham, T., and Trumpower, J. M.: 1997, On the inverse kinematics and statics of cable-suspended robots, in: IEEE Internat. Conf. on Systems, Man, and Cybernetics, Orlando, FL.
9. Shen, Y., Osumi, H., and Arai, T.: 1994, Manipulability measures for multi-wire driven parallel mechanisms, in: IEEE Internat. Conf. on Industrial Technology, pp. 550-554.
10. Stewart, D.: 1966, A platform with six degrees of freedom, Proc. of the Institute of Mechanical Engineers (London) 180(15), 371-386.
11. Tsai, L. W.: 1999, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, Wiley, New York.
12. Williams II, R. L.: 1998, Cable-suspended haptic interface, Internat. J. Virtual Reality 3(3), 13-21.