Cong Bang Pham

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A cable-driven parallel manipulator (CDPM) possesses a number of promising advantages over the conventional rigid-link manipulators, such as simple and lightweight mechanical structure, high-loading capacity, and large workspace. However, the formulations and results obtained for the rigid link manipulators cannot be directly applied to CDPM because of the(More)
Workspace analysis and optimization is a critical issue in robot manipulator design. For a cable-driven parallel manipulator (CDPM), due to the unilateral driving properties of the cables, maintaining positive cable tension is essential to maneuver the moving platform. As a result, its workspaces are always determined and characterized by the tension status(More)
A cable-driven parallel mechanism (CDPM) possesses a number of promising advantages over the conventional rigid-link mechanisms, such as simple and light-weight mechanical structure, high-loading capacity, and large workspace. However, the formulations and results obtained for the rigid-link mechanisms cannot be directly applied to CDPMs due to the(More)
A cable-driven parallel manipulator (CDPM) possesses a number of promising advantages over the conventional rigid-link manipulators, such as the simple and lightweight mechanical structure, high-loading capacity, and large reachable workspace. However, due to the unilateral driving capability of the flexible cables, most of the well-developed modelling and(More)
A cable-driven parallel mechanism (CDPM) possesses a number of promising advantages over the conventional rigid-link mechanisms, such as simple and light-weight mechanical structure, high-loading capacity, and large workspace. However, the formulations and results obtained for the rigid-link mechanisms cannot be directly applied to CDPMs due to the(More)
This paper presents a novel mechanical design of a 3-DOF wrist prosthesis. Mimicking biological solutions from the human arm anatomy, the wrist prosthesis is designed to have a parallel structure and is cable-driven. This results in a much lighter prosthesis, with higher loading capacity as compared to a rigid-linked, serial structured design. Based on the(More)
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