Set of manipulating forces in wire driven systems

Abstract

The manipulability for wire suspended mechanisms is discussed. For kinematics of a wire driven mechanism, we need not only the geometrical constiaints of wire lengths but also the force constraints, such as the wire tension which should be always greater than or equal to zero. First, the sufficient and necessary mechanical conditions corresponding to the… (More)
DOI: 10.1109/IROS.1994.407639

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