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- W2898847300 abstract "The significance of gravity, cable density and elasticity on cable tension and manipulator workspace is investigated. Formulations of the cable tension vector are discussed. In addition, implementation of the antipodal theorem criteria for the workspace boundary characterization of planar cable-driven robot manipulators is presented when the mass and elasticity of cables are included. It is demonstrated that unlike the linear model, the external force could have more prominent effect on the workspace. Specifically, depending on the cable properties, platform orientation and manipulator design constraints, for the catenary cable model, the extended workspace due to external wrench may be divided into disjoint regions." @default.
- W2898847300 created "2018-11-09" @default.
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- W2898847300 date "2018-08-26" @default.
- W2898847300 modified "2023-09-26" @default.
- W2898847300 title "Workspace Investigation of Cable-Driven Robots With Non-Negligible Cable Mass and Antipodal Method" @default.
- W2898847300 doi "https://doi.org/10.1115/detc2018-85300" @default.
- W2898847300 hasPublicationYear "2018" @default.
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