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- W2037338520 abstract "Cable robots or wire driven robots possess many advantages that makes them very well suited to be used as haptic interfaces. They exhibit very low inertia and very low friction because of their very light mechanical structure. The use of cables, however, leads to an under-constrained system which shows complex properties. The main drawback is difficulty to estimate useful workspace, and maximum tension in cables, as relation between maximum force at tip of interface and maximum tension in cables can not be easily established. In this paper we present a method to calculate these tensions in a given and to estimate what we have called the tension capable workspace for a 3 cables 2 d.o.f (degree of freedom) planar haptic interface and for a 4 cables 2 d.o.f. one." @default.
- W2037338520 created "2016-06-24" @default.
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- W2037338520 date "2005-01-01" @default.
- W2037338520 modified "2023-10-18" @default.
- W2037338520 title "Analytic determination of the tension capable workspace of cable actuated haptic interfaces" @default.
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- W2037338520 doi "https://doi.org/10.1145/1152399.1152435" @default.
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