Wrench-Closure Condition of Cable-Driven Parallel Manipulators

Wrench-Closure Condition of Cable-Driven Parallel Manipulators

Cable-driven parallel manipulators (CDPM) have parallel structures that consist of moving platforms connected to the fixed platform through many flexible cables. The moving platform is driven by many winches, and because of the unidirectional property of cables (cables can only pull and not push in...

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Bibliographic Details
Main Authors: Phan Gia Luan, Nguyen Truong Thinh
Format: Article
Language:English
Published: MDPI AG 2021-05-01
Series:Applied Sciences
Subjects:
cable-driven parallel manipulators
wrench-closure
workspace
Online Access:https://www.mdpi.com/2076-3417/11/9/4228

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