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Analysis of Optimal Cable Configurations in the Design of a 3-DOF Cable-Driven Robot Leg

[+] Author Affiliations
Joshua T. Bryson

University of Delaware, Newark, DE

Sunil K. Agrawal

Columbia University, New York, NY

Paper No. DETC2014-34656, pp. V05AT08A090; 9 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


The operational workspace of a cable-driven serial robot is largely dictated by the choice of cable placement and routing. As robot complexity increases with additional cables and degrees of freedom, the problem of designing a cable architecture can quickly become challenging.

This paper builds upon a previously described methodology to identify and analyze optimal cable configurations, expanding the approach to a 3-DoF robot leg driven by four cables. The methodology is used to analyze configuration trends in the routing and placement of the cables which achieve the desired range of motion for the robot. The results of the analysis are used to inform the design of a cable architecture which is shown to be capable of controlling the robot through the desired task.

Copyright © 2014 by ASME
Topics: Robots , Cables , Design



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