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Variation of the Workspace of Cable-Driven Two-Link Planar Manipulators due to Cable Attachment Points

[+] Author Affiliations
Joshua T. Bryson, Sunil K. Agrawal

University of Delaware, Newark, DE

Paper No. DETC2012-70949, pp. 833-841; 9 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


The design of cable-driven robots is complicated by the fact that cables can only apply force in one direction using tension, requiring a minimum of n+1 cables to fully constrain an n-DOF mechanism. Underconstrained systems with fewer than n+1 cables are not able to resist an arbitrary force, but may still be operational within a subset of their reachable workspace depending on the design of the mechanism. This paper focuses on an underconstrained two-link planar manipulator controlled using two cables. The equations of motion are presented and the system is numerically analyzed to determine the joint-angles and end-effector positions which can be achieved under quasi-static equilibrium with positive cable tensions. The positive tension workspace of the mechanism is shown to be governed by a collection of discrete constraint curves, which are presented and analyzed. The effects of changing cable configuration on the positive tension workspace are explored, and the cable configurations which result in the largest manipulator reachable workspace and dexterity are identified.

Copyright © 2012 by ASME
Topics: Cables , Manipulators



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