Abstract: Wrenchclosure is an important property of cabledriven parallel manipulators (CDPMs), representing the ability to generate wrench in any direction by positive cable forces. For single link CDPMs, it is well known that ...

Abstract: The operational space control (OSC) of multilink cable-driven hyper-redundant robots (MCDHRs) is required to perform tasks in many applications. As a new coupled active-passive (CAP) MCDHR system, due to the multiple ...

Abstract: The study of the relationship between the desired system dynamics and the actuation wrench producing those dynamics is important for robotic system analysis. For traditionally actuated robots, the quality indices of dexterity ...