Reciprocal screw-based force-closure of an n-DOF Open Chain: Minimum Number of Cables Required to Fully Constrain It

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 3029-3034

  Mustafa, Shabbir Kurbanhusen ^a   Agrawal, Sunil Kumar ^b  

^a AGENCY FOR SCIENCE   (Singapore)

^b UNIVERSITY OF DELAWARE   (United States)

Author keywords

Cable Driven Robots; Force Closure; Reciprocal Screw Theory

Indexed keywords

CABLE DRIVEN ROBOTS; CABLE ROUTING; CABLE-DRIVEN; FORCE-CLOSURE; OPEN CHAIN; POSITIVE TENSIONS; RECIPROCAL SCREW THEORY;

KINEMATICS; ROBOTICS; SCREWS;

CABLES;

EID: 84857034312     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5980260     Document Type: Conference Paper

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