The solution for positive wire tension vector in the presence of uncertainties in design
parameters and error in data is investigated for parallel manipulators. The minimum 2-norm …

The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses for
which any wrench can be produced at the end-effector by a set of non-negative cable …

In this paper, a generalized form of the antipodal method from multi-finger grasping is
presented and implemented for investigating the workspace of a wide range of planar wire …

The aim of this paper is to present a systematic method for verifying the force-closure
condition for general 3-DOF fully-constrained cable manipulators with four cables as based …

In this article, the effect of uncertainties in wire connections on the workspace generation of
wire-actuated parallel manipulators is investigated. The geometric representations of …

The significance of gravity, cable density and elasticity on cable tension and manipulator
workspace is investigated. Formulations of the cable tension vector are discussed. In …

In this paper, the effect of variations in design parameters on the workspace of the wire-
actuated parallel manipulators is investigated. The static force/moment balance equations …

The objective of this paper is to investigate the layout for the translational planar wire–
actuated parallel manipulators to generate the largest possible workspace. The workspace …

The aim of this paper is to present a systematic method for verifying the force-closure
condition for general 3-DOF fully-constrained cable manipulators with four cables as based …