Abstract: This paper presents the concept of variable radius drum mechanisms (VRDMs). A drum, or spool, consists of a spindle with flanges, around which a cable is wound. The cylindrical surface of an ordinary spool has a constant ...

Abstract: The present study investigates the problem of towing an object that is lying on a surface in a given workspace and the applicability to a planetary rover with four steering wheels. A quasi-static method has been introduced ...