Full Content is available to subscribers

Subscribe/Learn More  >

A Planar Spring-Loaded Cable-Loop-Driven Parallel Mechanism

[+] Author Affiliations
Hanwei Liu, Clément Gosselin, Thierry Laliberté

Université Laval, Québec, QC, Canada

Paper No. DETC2010-28424, pp. 271-280; 10 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


A novel architecture of planar spring-loaded cable-loop-driven parallel mechanism is introduced in this paper. By attaching springs to the cable loops, two degrees of freedom can be controlled using only two actuators. In this mechanism, spools are eliminated. Therefore, it is expected that the accuracy of this mechanism is improved compared with conventional cable-driven mechanisms making use of spools. The mechanism can be actuated using either linear sliders or rotary actuators driving the motion of a cable or belt. This paper presents the inverse kinematics and the static equilibrium equations for the new architecture. It is verified that the cables and the springs can be kept in tension within the workspace. Results of numerical simulations are also given.

Copyright © 2010 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In