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Technical Briefs

# Two-Degree-of-Freedom Decoupled Nonredundant Cable-Loop-Driven Parallel Mechanism

[+] Author and Article Information
Hanwei Liu

e-mail: hanwei.liu.1@ulaval.ca

Clément Gosselin

e-mail: gosselin@gmc.ulaval.ca

Thierry Laliberté

e-mail: thierry@gmc.ulaval.ca
Département de Génie Mécanique,
Université Laval,

The authors had a chance to see the Fraunhofer mechanism. Its characteristics are very similar to those of the mechanism proposed in this paper but the routing is different and more involved. No reference to this mechanism was found in the written literature though, hence this footnote.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received October 5, 2012; final manuscript received August 2, 2013; published online October 31, 2013. Assoc. Editor: Vijay Kumar.

J. Mechanisms Robotics 6(1), 014501 (Oct 31, 2013) (5 pages) Paper No: JMR-12-1159; doi: 10.1115/1.4025621 History: Received October 05, 2012; Revised August 02, 2013

## Abstract

A novel two-degree-of-freedom (DOF) cable-loop slider-driven parallel mechanism is introduced in this paper. The novelty of the mechanism lies in the fact that no passive rigid-link mechanism or springs are needed to support the end-effector (only cables are connected to the end-effector) while at the same time there is no actuation redundancy in the mechanism. Sliders located on the edges of the workspace are used and actuation redundancy is eliminated while providing force closure everywhere in the workspace. It is shown that the two degrees of freedom of the mechanism are decoupled and only two actuators are needed to control the motion. There are two cable loops for each direction of motion: one acts as the actuating loop while the other is the constraint loop. Due to the simple geometric design, the kinematic and static equations of the mechanism are very compact. The stiffness of the mechanism is also analyzed in the paper. It can be observed that the mechanism's stiffness is much higher than the stiffness of the cables. The proposed mechanism's workspace is essentially equal to its footprint and there are no singularities.

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## Figures

Fig. 3

Forces on the cable-routing system for the y direction

Fig. 2

Photograph of the demonstration model of the nonredundant cable-loop-driven parallel mechanism

Fig. 1

Schematic representation of a 2-DOF cable-loop slider-driven parallel mechanism

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