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Title: Analysis and design of cable-driven parallel kinematic mechanisms
Authors: Pham, Cong Bang
Keywords: DRNTU::Engineering::Mechanical engineering::Robots
Issue Date: 2007
Source: Pham, C. B. (2007). Analysis and design of cable-driven parallel kinematic mechanisms. Doctoral thesis, Nanyang Technological University, Singapore.
Abstract: 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.
DOI: 10.32657/10356/5263
Rights: Nanyang Technological University
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Theses

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