Configuration of redundant drive wire mechanism using double actuator modules

Abstract

A new wire mechanism called "redundant drive wire mechanism" (RDWM), driven by double actuator modules (DAMs) is introduced. When RDWM is used for producing multi-directional motions using DAMs, the number of wires increases and the wire matrix would become complicated. This makes finding and checking the candidates difficult. Therefore, we introduce an easier and simpler approach for judging RDWM candidates, which includes two procedures: conversion of the wire matrix to a new form, and judgment of candidates using the essential component of the new form of wire matrix related to the global motion. This paper shows a fast and convenient method for judging whether an RDWM candidate can produce the resultant forces needed to achieve required motions. The examples demonstrate the validity of the new method in dealing with RDWM candidates containing many wires.

Design and implementation of a cable-driven parallel robot for additive manufacturing applications

“…The winches can handle the winding of several cables as in [7,29,54,55,13,50]. This solution can make it possible to constrain certain degrees of freedom of the platform, increase the workspace, and also the rigidity of the robot.…”

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

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Kinetostatic Modeling of a Cable-Driven Parallel Robot Using a Tilt-Roll Wrist

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