Optimization of Tension Distribution for Cable-Driven Manipulators Using Tension-Level Index

• Main Authors: Lim, Wen Bin, Yeo, Song Huat, Yang, Guilin
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2016
• Subjects: Cable-driven manipulator (CDM); Tension distribution
• Online Access: https://hdl.handle.net/10356/82004; http://hdl.handle.net/10220/41077
• Institution: Nanyang Technological University

Cable-driven manipulators (CDMs) are a special class of parallel manipulators driven by cables instead of rigid links. Due to the unilateral driving property of cables, CDMs require redundant actuation to maintain positive cable tensions. As a result of actuation redundancy, there exist an infinite...