In this paper, the design and kinematic performances are presented for a parallel manipulator with four driven cables. Kinetostatic analysis has been performed for both planar and spatial operations of the manipulator as based on a geometrical approach. A low-cost prototype has been built and an application is proposed to show the feasibility of the system design and its operation.

Analysis and design of a four-cable-driven parallel manipulator for planar and spatial tasks

OTTAVIANO, Erika
2008

Abstract

In this paper, the design and kinematic performances are presented for a parallel manipulator with four driven cables. Kinetostatic analysis has been performed for both planar and spatial operations of the manipulator as based on a geometrical approach. A low-cost prototype has been built and an application is proposed to show the feasibility of the system design and its operation.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11580/9391
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