Modelling of cable wrapping phenomenon towards improved cable-driven mechanisms

@article{Lei2013ModellingOC,
  title={Modelling of cable wrapping phenomenon towards improved cable-driven mechanisms},
  author={Man Cheong Lei and Denny Oetomo},
  journal={2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics},
  year={2013},
  pages={649-655}
}
Traditional parallel driven cable robots relied on the fact that the cables connecting the fixed frame and the moving platform remain straight and taut under tension during operation. Most studies implicitly or explicitly modelled the cables as straight lines. As consequence, the contacts between the cables and the platform have been excluded from the… CONTINUE READING