Design and prototype of parallel, wire-actuated robots with a constraining linkage

Currently, wire-actuated robots are not used extensively in industry, but they are gaining more attention due to advantages they possess. Low weight, cost, and power consumption are features that make wire-controlled robots worth researching. This article investigates the designs of two different, 4 degrees of freedom parallel, wire-actuated robots so that a prototype of one of these can be built. A design methodology is developed and presented. The process will be beneficial to those working on designing and prototyping a new robot or modifying an existing robot. Stability of both designs is considered first to ensure that the robots are able to exert and withstand end effector forces in different positions throughout their respective workspaces. The stiffness and strength of the materials used in the designs is also investigated using finite element analysis. © 2004 Wiley Periodicals, Inc.

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