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TECHNICAL PAPERS

A Method for Representing the Configuration and Analyzing the Motion of Complex Cable-Pulley Systems

[+] Author and Article Information
Dennis W. Hong, Raymond J. Cipra

School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907-2088

J. Mech. Des 125(2), 332-341 (Jun 11, 2003) (10 pages) doi:10.1115/1.1564062 History: Received January 01, 2001; Revised July 01, 2002; Online June 11, 2003
Copyright © 2003 by ASME
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References

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Williams,  R. L., 1998, “Cable-Suspended Haptic Interface,” International Journal of Virtual Reality,3(3), pp. 13–21.
Lindemann, R., and Tesar, D., 1989, “Construction and Demonstration of a 9-String 6-DOF Force Reflecting Joystick for Telerobotics,” NASA International Conference on Space Telerobotics, Vol. 4, pp. 55–63.
Ishii,  M., and Sato,  M., 1994, “A 3D Spatial Interface Device Using Tensed Strings,” Presence-Teleoperators and Virtual Environments, MIT Press, Cambridge, MA,3(1), pp. 81–86.
Tsai,  Lung-Wen, and Lee,  J. J., 1989, “Kinematic Analysis of Tendon Driven Robotic Mechanisms Using Graph Theory,” ASME J. Mech. Des., 111, pp. 59–65.
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Figures

Grahic Jump Location
Examples of simple cable-pulley systems
Grahic Jump Location
A basic building block with elements
Grahic Jump Location
Change in position of cable nodes
Grahic Jump Location
Sliding constraints between blocks

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