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Research Papers

# Conceptual Design and Static Analysis of Novel Planar Spring-Loaded Cable-Loop-Driven Parallel Mechanisms

[+] Author and Article Information
Hanwei Liu

Département de Génie Mécanique,  Université Laval, Québec, QC, G1V 0A6, Canadahanwei.liu.1@ulaval.ca

Clément Gosselin

Département de Génie Mécanique,  Université Laval, Québec, QC, G1V 0A6, Canadagosselin@gmc.ulaval.ca

Thierry Laliberté

Département de Génie Mécanique,  Université Laval, Québec, QC, G1V 0A6, Canadathierry@gmc.ulaval.ca

The reference position is taken as the centre of the square or rectangle defined by the fixed pulleys A1 A2 B1 B2 , see Ref. [25].

J. Mechanisms Robotics 4(2), 021001 (Mar 19, 2012) (11 pages) doi:10.1115/1.4005568 History: Received December 13, 2010; Revised June 22, 2011; Published March 12, 2012; Online March 19, 2012

## Abstract

Two novel architectures of planar spring-loaded cable-loop-driven parallel mechanisms that do not require actuation redundancy are introduced in this paper. In order to avoid redundancy in the cable-driven parallel mechanisms and require only N actuators to control N-DOF motion, a new spring-loaded cable-loop-driven mechanism is proposed. By attaching springs to the cable loops, two degrees of freedom can be controlled using only two actuators and spools are eliminated in this mechanism. Therefore, the control method can be simplified compared with conventional cable-driven mechanisms making use of spools and actuation redundancy. The mechanisms can be actuated using either linear sliders or rotary actuators driving the motion of a cable or belt loop. Kinematic and static analyses are presented for the new architectures. It is verified that the cables and springs can be kept in tension within a certain workspace. Results of numerical simulations are also given in order to provide insight into the design issues.

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## Figures

Figure 1

The ineffective mechanisms

Figure 2

The workspaces for different spring parameters of the simple cable mechanism. The workspaces are illustrated by the shaded areas.

Figure 3

Schematic representation of compliance in the loop on one side of the actuator

Figure 4

Schematic representation of the symmetric 2-DOF spring-loaded cable-loop-driven parallel mechanisms

Figure 5

Demonstration model of the symmetric 2-DOF spring-loaded cable-loop-driven parallel mechanism

Figure 6

Forces acting on the symmetric 2-DOF spring-loaded cable-loop-driven parallel mechanism

Figure 7

Illustration of Eq. 13, for a given configuration

Figure 8

Figure 9

Division of the workspace

Figure 10

Workspace of the mechanism when fo  = 0

Figure 11

Boundary of the workspace for different values of krfo

Figure 12

Relationship between xlim and ρ for k = 0 when the four vertices form a square

Figure 13

Relationship between xlim and ρ for k = 0

Figure 14

Relationship between xlim , ρ and q according to Eq. 49

Figure 15

Boundary of the workspace for krfo=2

Figure 16

Workspace boundary defined by fai , i = 1,2

Figure 17

Workspace boundaries defined by fa1 and fa2 for different values of krfo

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