On the connections between cable-driven robots, parallel manipulators and grasping

@article{EbertUphoff2004OnTC,
  title={On the connections between cable-driven robots, parallel manipulators and grasping},
  author={Imme Ebert-Uphoff and Philip A. Voglewede},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  year={2004},
  volume={5},
  pages={4521-4526 Vol.5}
}
Although cable-driven robots and parallel manipulators have very similar architecture, the presence of the unidirectional constraints in cable-driven robots makes it impossible to apply many of the concepts and methods used for parallel manipulators. Instead many tools from grasping are more suitable, since fingers also provide unidirectional constraints. This article reviews some of the connections, provides some basic definitions that we hope leads to standardized terminology for cable-driven… CONTINUE READING
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