Abstract
The idea of multi-body cable-driven mechanisms is an extension of the original cable robots where the moving platform is replaced by a multi-body. Cables with variable lengths are attached between the fixed base and the links of the multi-body to provide the motion. There are possible applications for such mechanisms where complex motions as well as low moving inertia are required. One of the main challenges with such mechanisms is the high chance of interference between the cables or between the cables and the links of the multi-body mechanism. This can further reduce the usable workspace. In this article, the idea of adding passive cables in series with springs (spring cable) to improve the workspace is investigated. The spring cables can be added between the multi-body and ground or between the links. The idea is applied to a two-link planar multi-body cable-driven mechanism. The wrench feasible workspace (WFW) is found using the interval analysis. The WFW is shown to improve both in shape and volume.
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Taghavi, A., Behzadipour, S., Khalilinasab, N., Zohoor, H. (2013). Workspace Improvement of Two-Link Cable-Driven Mechanisms with Spring Cable. In: Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 12. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31988-4_13
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DOI: https://doi.org/10.1007/978-3-642-31988-4_13
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