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Article

Determination of the Dynamic Workspace of Cable-Driven Planar Parallel Mechanisms

[+] Author and Article Information
Guillaume Barrette, Clément M. Gosselin

Département de Génie Mécanique, Université Laval, Québec, PQ G1K 7P4, Canada

J. Mech. Des 127(2), 242-248 (Mar 25, 2005) (7 pages) doi:10.1115/1.1830045 History: Received May 14, 2004; Revised June 03, 2004; Online March 25, 2005
Copyright © 2005 by ASME
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Figures

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A system for which n=5 and k=4
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ith link of the mechanism
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Pseudopyramid representing the forces and the unilaterality constraints
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Linear parametrization of the two-cable equilibrium
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Cable-2,3 equilibrium hyperbola (ϕ=20 deg, ẍ=2 m/s2), (other components of the acceleration are zero)
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Three two-cable equilibrium hyperbolas of a mechanism (ϕ=20 deg, static case)
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Elliptical singularity loci of a three-cable mechanism (ϕ=−15 deg, ẍ=−4 m/s2), (other components of the acceleration are zero)
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Four quadratic curves of a three-cable mechanism (ϕ=0 deg, static state)
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Quadratic curves (ϕ=0 deg, static case)
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Cable-1,3,5 quadratic curves (ϕ=0 deg, static case)
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Cable-1,3,5 subworkspace (ϕ=0 deg, static case)
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Complete workspace (ϕ=0 deg, static case)
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Complete workspace (ϕ=25 deg, ẍ=7 m/s2,ϕ̈=−5 rad/s2,ÿ=0)
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Complete workspace (ϕ=−15 deg, ẍ=2 m/s2,ÿ=−12 m/s2,ϕ̈=0 rad/s2)

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