The multilink cable driven robot (MCDR) is an extension  
of the cable robots where the moving platform is replaced by a  
multibody chain. It is typically an open-chain structure with multiple  
links and complex cable routing. This design introduces the  
advantages of having a serial kinematic structure and preserves  
the benefits associated with cable-driven parallel mechanism. To  
achieve a minimum number of actuating cables while possessing  
a large workspace region, a novel internal cable routing scheme  
is proposed. It is shown that by incorporating internal routing  
with multi-segment cables, any serial chain with n degrees  
of freedom can be controlled with n+1 cables. In this work,  
through studying the kinematics and dynamics, we demonstrate  
how internally-routed cable actuation of multilink manipulators  
have an increased workspace and reduced cable forces to execute  
trajectories.


Analysis of Planar Multilink Cable Driven Robots Using Internal Routing Scheme

Division / Sponsors: 
Design Engineering Division and Computers & Information In Engineering Division


Paper Proceedings: https://asmedigitalcollection.asme.org/IDETC-CIE/IDETC-CIE2020/volume/83907

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