0

Full Content is available to subscribers

Subscribe/Learn More  >

Reciprocal Screw-Based Force-Closure of Cable-Driven Closed Chains

[+] Author Affiliations
Shabbir Kurbanhusen Mustafa

Agency for Science, Technology and Research, Singapore

Sunil Kumar Agrawal

University of Delaware, Newark, DE

Paper No. DETC2011-47599, pp. 1243-1251; 9 pages
doi:10.1115/DETC2011-47599
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME

abstract

Extensive research has been conducted in force-closure analysis of single rigid-bodied cable-driven platforms, and very recently of cable-driven open chains. However, force-closure analysis of cable-driven closed chains is still an open question. For the case of an n-DOF closed chain driven by cables, two important questions arise: (i) How can force-closure analysis be carried out for a given cable routing configuration while retaining the geometric insights of the problem? (ii) Are n+1 cables sufficient to fully constrain the entire closed chain? This paper will address these issues and propose a systematic and novel approach based on the reciprocal screw theory. The proposed methodology can analyze closed chains with arbitrary cable routings and the analysis shows that an n-DOF closed chain requires a minimum of n+1 cables to fully constrain it.

Copyright © 2011 by ASME
Topics: Force , Screws , Cables , Chain

Figures

Tables

Interactive Graphics

Video

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

NOTE:
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

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