Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot
(2021)
Journal Article
Chen, Q., Lin, Q., Wei, G., & Ren, L. (2022). Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 236(1), 100-114. https://doi.org/10.1177/09544062211026344
This paper investigates the force sensitivity of 6-DOF cable-driven parallel robots (CDPRs) in order to propose a better force measurement device. Kinematics and dynamics for a CDPR of n-DOF are deduced and formulated, and algorithms for calculating... Read More about Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot.