Abstract
This paper proposes a new two-degrees-of-freedom (dof) cable-actuated mechanism which can be utilized for lightweight variable-stiffness manipulators. Using numerical methods, a kinematic model for the proposed mechanism is derived for determining the mechanism’s configurations and cable lengths for a pair of independent task-space variables. The numerical algorithm used for estimating the workspace is cross-validated with a virtual prototype of the mechanism using ONSHAPE®. The work presented in the paper concludes with the static modelling of the mechanism, which yielded insights regarding the magnitude of the actuation forces, depending on the desired wrench-feasible workspace of the mechanism.
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Acknowledgements
The first author is financially supported through the Prime Minister’s Research Fellowship (PMRF) scheme funded by the Ministry of Education (MoE), India.
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John, I., Mohan, S., Wenger, P. (2023). Kinematic and Static Modelling of a New Two-Degree-of-Freedom Cable Operated Joint. In: Laribi, M.A., Nelson, C.A., Ceccarelli, M., Zeghloul, S. (eds) New Advances in Mechanisms, Transmissions and Applications. MeTrApp 2023. Mechanisms and Machine Science, vol 124. Springer, Cham. https://doi.org/10.1007/978-3-031-29815-8_12
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