HexaSphere with Cable Actuation

  • M. Valášek
  • M. Karásek


The paper deals with details of development of cable actuated version of spherical mechanism HexaSphere, a redundantly actuated mechanism with parallel kinematic structure. The cables can only transfer tension forces, stress load of the cables would make the mechanism collapse. That can be achieved by anti-backlash control principle. Anti-backlash area of mechanism HexaSphere is mapped first. Secondly actuation forces required for given trajectory and robot’s dynamics are computed and minimised by dimension optimisation.


Sign Vector Actuation Force Spherical Joint Spherical Motion Redundant Actuation 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • M. Valášek
    • 1
  • M. Karásek
    • 1
  1. 1.Faculty of Mechanical Engineering, Department of Mechanics, Biomechanics and MechatronicsCzech Technical University in PraguePrahaCzech Republic

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