Analysis and design of cable-driven parallel kinematic mechanisms

This thesis concerns the analysis and design of cable-driven parallel mechanisms (CDPM). Structurally, a CDPM is formed by replacing the supporting legs of a parallel mechanism with active cables. It has the advantages of simple mechanical structure, low moment of inertia, and high-speed motion. One...

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Main Author:	Pham, Cong Bang
Other Authors:	Yeo Song Huat
Format:	Theses and Dissertations
Published:	2008
Subjects:	DRNTU::Engineering::Mechanical engineering::Robots
Online Access:	https://hdl.handle.net/10356/5263
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Institution:	Nanyang Technological University

id	sg-ntu-dr.10356-5263
record_format	dspace
spelling	sg-ntu-dr.10356-52632023-03-11T17:47:07Z Analysis and design of cable-driven parallel kinematic mechanisms Pham, Cong Bang Yeo Song Huat School of Mechanical and Aerospace Engineering DRNTU::Engineering::Mechanical engineering::Robots This thesis concerns the analysis and design of cable-driven parallel mechanisms (CDPM). Structurally, a CDPM is formed by replacing the supporting legs of a parallel mechanism with active cables. It has the advantages of simple mechanical structure, low moment of inertia, and high-speed motion. One distinctive characteristic of CDPMs is the unilateral property of the cables, i.e. cables can only pull but not push. At present, the design and application of CDPMs are limited and there is a lack of systematic analysis methods for CDPMs. This work aims to lay down a framework for the analysis, design and application of fully restrained CDPMs. DOCTOR OF PHILOSOPHY (MAE) 2008-09-17T10:46:36Z 2008-09-17T10:46:36Z 2007 2007 Thesis Pham, C. B. (2007). Analysis and design of cable-driven parallel kinematic mechanisms. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/5263 10.32657/10356/5263 Nanyang Technological University application/pdf
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
topic	DRNTU::Engineering::Mechanical engineering::Robots
spellingShingle	DRNTU::Engineering::Mechanical engineering::Robots Pham, Cong Bang Analysis and design of cable-driven parallel kinematic mechanisms
description	This thesis concerns the analysis and design of cable-driven parallel mechanisms (CDPM). Structurally, a CDPM is formed by replacing the supporting legs of a parallel mechanism with active cables. It has the advantages of simple mechanical structure, low moment of inertia, and high-speed motion. One distinctive characteristic of CDPMs is the unilateral property of the cables, i.e. cables can only pull but not push. At present, the design and application of CDPMs are limited and there is a lack of systematic analysis methods for CDPMs. This work aims to lay down a framework for the analysis, design and application of fully restrained CDPMs.
author2	Yeo Song Huat
author_facet	Yeo Song Huat Pham, Cong Bang
format	Theses and Dissertations
author	Pham, Cong Bang
author_sort	Pham, Cong Bang
title	Analysis and design of cable-driven parallel kinematic mechanisms
title_short	Analysis and design of cable-driven parallel kinematic mechanisms
title_full	Analysis and design of cable-driven parallel kinematic mechanisms
title_fullStr	Analysis and design of cable-driven parallel kinematic mechanisms
title_full_unstemmed	Analysis and design of cable-driven parallel kinematic mechanisms
title_sort	analysis and design of cable-driven parallel kinematic mechanisms
publishDate	2008
url	https://hdl.handle.net/10356/5263
_version_	1761781606766346240

Analysis and design of cable-driven parallel kinematic mechanisms

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