2008•Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering ScienceRequires access
Analysis and design of a four-cable-driven parallel manipulator for planar and spatial tasks
Erika Ottaviano
Open publisher page 11 citations
Abstract
In this paper, the design and kinematic performances are presented for a parallel manipulator with four driven cables. Kinetostatic analysis has been performed for both planar and spatial operations of the manipulator as based on a geometrical approach. A low-cost prototype has been built and an application is proposed to show the feasibility of the system design and its operation.