Abstract: A mechanism, which, for any motion, does not apply reaction forces on the base, is said to be statically or force balanced. It is moment balanced or dynamically balanced if, moreover, it ...

Abstract: This paper presents a new geometry-based method to determine if a cable-driven robot operating in a d-degree-of-freedom workspace (2≤d≤6) with n≥d cables can generate a given set of wrenches ...