Input-output force transmission characteristics for the 3T1R cable-driven parallel mechanism

In this work, the ∞-norm based input-output force transmission (IOFT) characteristic of a 3T1R type cable-driven parallel mechanism (CDPM) with five cables is analyzed. It is confirmed from simulation results that the proposed CDPM has adequate characteristics for haptic applications. In addition, its 1-norm and 2-norm based IOFT characteristics are analyzed.

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