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Two-Degree-of-Freedom Decoupled Non-Redundant Cable-Loop-Driven Parallel Mechanism

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

Laval University, Québec, QC, Canada

Paper No. DETC2012-70442, pp. 781-790; 10 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


A novel two-degree-of-freedom cable-loop slider-driven parallel mechanism is introduced in this paper. The two degrees of freedom of the mechanism are decoupled and only two actuators are needed to control the motion. There are two cable loops for each direction of motion: one acts as the actuating loop while the other is the constraint loop. Due to the simple geometric design, the kinematic and static equations of the mechanism are very compact. The stiffness of the mechanism is also analyzed in the paper. It can be observed that the mechanism’s stiffness is much higher than the stiffness of the cables. Finally, the dynamic equations of the mechanism, including the compliance and the damping of the cables are obtained. The proposed mechanism’s workspace is essentially equal to its footprint and there are no singularities. The mechanism does not require the use of a rigid-link passive bridge and trolley (only cables are connected to the end-effector). Sliders located on the edges of the workspace are used and actuation redundancy is eliminated while providing force closure everywhere in the workspace.

Copyright © 2012 by ASME



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