| contributor author | Ethan Stump | |
| contributor author | Vijay Kumar | |
| date accessioned | 2017-05-09T00:21:09Z | |
| date available | 2017-05-09T00:21:09Z | |
| date copyright | January, 2006 | |
| date issued | 2006 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27819#159_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/134385 | |
| description abstract | This paper develops analytical techniques to delineate the workspace boundaries for parallel mechanisms with cables. In such mechanisms, it is not only necessary to solve the closure equations but it is also essential to verify that equilibrium can be achieved with non-negative actuator (cable) forces. We use tools from convex analysis and linear algebra to derive closed-form expressions for the workspace boundaries and illustrate the applications using planar and spatial examples. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Workspaces of Cable-Actuated Parallel Manipulators | |
| type | Journal Paper | |
| journal volume | 128 | |
| journal issue | 1 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2121741 | |
| journal fristpage | 159 | |
| journal lastpage | 167 | |
| identifier eissn | 1528-9001 | |
| keywords | Cables | |
| keywords | Manipulators | |
| keywords | Geometry AND Theorems (Mathematics) | |
| tree | Journal of Mechanical Design:;2006:;volume( 128 ):;issue: 001 | |
| contenttype | Fulltext | |
