Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism

Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism

In this paper, we focus on the issues pertaining to stiffness-oriented cable tension distribution for a symmetrical 6-cable-driven spherical joint module (6-CSJM), which can be employed to construct modular cable-driven manipulators. Due to the redundant actuation of the 6-CSJM, three cables are emp...

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Bibliographic Details
Main Authors: Kaisheng Yang, Guilin Yang, Si-Lu Chen, Yi Wang, Chi Zhang, Zaojun Fang, Tianjiang Zheng, Chongchong Wang
Format: Article
Language:English
Published: MDPI AG 2019-09-01
Series:Symmetry
Subjects:
cable-driven manipulator
redundant actuation
variable stiffness
tension distribution
optimization
Online Access:https://www.mdpi.com/2073-8994/11/9/1158

Internet

https://www.mdpi.com/2073-8994/11/9/1158

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