Design and Control Methodology of a Cable Driven Active Spatial Rolling Contact Pair

  • Naoto KimuraEmail author
  • Nobuyuki Iwatsuki
  • Ikuma Ikeda
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


In order to generate relative motion between links with the spatial rolling contact pair (SRCP) by adding simple actuation device, the cable driven active SRCP (ASRCP) is proposed. In the ASRCP, two links connected with the SRCP are driven by active cables (e.g. artificial muscles) arranged between the links. The active cables are optimally arranged based on a transmission index for general parallel cable driven mechanisms. Cable tensions to drive two links are calculated by taking care of the stability of the rolling contact of the SRCP. An example is designed and the cable tensions are calculated. The result shows that it has good transmission of driving force and can generate the ideal rolling motion with the calculated cable tensions.


Linkage mechanism Kinematic pair Rolling contact joint Cable driven mechanism Parallel wire driven mechanism 


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This work was supported by JSPS KAKENHI Grant Number 18J21095.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Graduate student, Department of mechanical engineering, School of engineeringTokyo Institute of TechnologyTokyoJapan
  2. 2.Department of mechanical engineering, School of engineeringTokyo Institute of TechnologyTokyoJapan

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