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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
  • 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


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



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