Two Degree of Freedom Decoupled Nonredundant Cable Loop Driven Parallel Mechanism

Abstract

A novel twodegreeoffreedom (DOF) cableloop sliderdriven parallel mechanism is introduced in this paper. The novelty of the mechanism lies in the fact that no passive rigidlink mechanism or springs are needed to support the endeffector (only cables are connected to the endeffector) while at the same time there is no actuation redundancy in the mechanism. Sliders located on the edges of the workspace are used and actuation redundancy is eliminated while providing force closure everywhere in the workspace. It is shown that the two degrees of freedom of the mechanism are decoupled and only two actuators are needed to control the motion. There are two cable loops for each direction of motion: one acts as the actuating loop while the other is the constraint loop. Due to the simple geometric design, the kinematic and static equations of the mechanism are very compact. The stiffness of the mechanism is also analyzed in the paper. It can be observed that the mechanism's stiffness is much higher than the stiffness of the cables. The proposed mechanism's workspace is essentially equal to its footprint and there are no singularities.