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RISSensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A cable-driven redundant manipulator (CDRM) composed of quaternion joints has important applications in confined space, including minimal invasive surgery, aircraft parts assembly, environment exploring, and so on. Benefitting ...
Sensing Design, Trajectory Planning, and Motion Control of a CableDriven Redundant Manipulator Composed of Quaternion Joints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A cabledriven redundant manipulator (CDRM) composed of quaternion joints has important applications in confined space, including minimal invasive surgery, aircraft parts assembly, environment exploring, and so on. Benefitting ...
Design and Analysis of a High-Payload Manipulator Based on a Cable-Driven Serial-Parallel Mechanism
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a lightweight high-payload cable-driven serial-parallel manipulator is proposed. The manipulator comprises one 3-degree-of-freedom (3-DOF) shoulder joint and one single-DOF elbow joint. Using a special ...