The NIST robocrane

@article{Albus1993TheNR,
  title={The NIST robocrane},
  author={James S. Albus and Roger Bostelman and Nicholas G. Dagalakis},
  journal={J. Field Robotics},
  year={1993},
  volume={10},
  pages={709-724}
}
The Robot Systems Division of the National Institute of Standards and Technology (NIST) has been experimenting for several years with new concepts for robot cranes. These concepts utilize the basic idea of the Stewart platform parallel link manipulator. The unique feature of the NIST approach is to use cables as the parallel links and to use winches as the actuators. As long as the cables are all in tension, the load is kinematically constrained and the cables resist perturbing forces and… 
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