ICRA 2011 Paper Abstract


Paper WeA202.4

Mustafa, Shabbir Kurbanhusen (Singapore Institute of Manufacturing Technology), Agrawal, Sunil (University of Delaware)

Reciprocal Screw-Based Force-Closure of an N-DOF Open Chain: Minimum Number of Cables Required to Fully Constrain It

Scheduled for presentation during the Regular Sessions "Underactuated and Tendon/Wire Mechanisms I" (WeA202), Wednesday, May 11, 2011, 10:50−11:05, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Tendon/Wire Mechanism, Kinematics, Parallel Robots


Due to the unilateral driving property of cables, it has been mathematically proven that a 6-DOF single rigid bodied cable-driven platform requires a minimum of 7 cables with positive tension to fully constrain it. However, force-closure analysis of open chains driven by cables is still an open question. For the case of an n-DOF open chain driven by cables, two important questions arise: (i) Are n+1 cables sufficient to fully constrain the entire chain? (ii) How can force-closure analysis be carried out for a given cable routing configuration while retaining the geometric insights of the problem?

This paper will address these issues and propose a systematic and novel approach based on the reciprocal screw theory. The analysis shows that the entire n-DOF open chain requires a minimum of n+1 cables to fully constrain it and the proposed methodology can analyze any cable routing configuration.



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