Force and touch feedback for virtual reality
Force and touch feedback for virtual reality
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots
International Journal of Intelligent Mechatronics and Robotics
Cable-direct-driven-robot (CDDR) with a 3-link passive serial support
Robotics and Computer-Integrated Manufacturing
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Cable-direct-driven robots and haptic interfaces are appealing because of their structural simplicity, high stiffness, and high exerted wrench-to-weight ratio. A major drawback is that cables can only exert tension. Therefore, actuation redundancy is required to apply general wrenches (force/moment vectors). Even with actuation redundancy, not all desired wrenches can be applied in some configurations due to one or more negative cable forces required. In addition, cable interference can be a serious problem for these devices. The objective of this article is to present the best design for planar cable-direct-driven robots and/or haptic interfaces with one degree of actuation redundancy, with regard to general wrench exertion and cable interference. Results indicate that the cable interference constraint dominates which suggests the need for future design work to alleviate this interference.