Over the past decade, cable-driven parallel mechanisms have been used for several purposes. In this paper, a novel application is proposed, namely, using two 6DOF cable-driven parallel mechanisms sharing a common workspace to obtain the mechanical base for the design of a locomotion interface. The methodology used to develop the architecture of the mechanisms is presented, and the two main criteria used to optimize the geometry are described. These criteria are based on the wrench-closure workspace and a detection of the mechanical interferences between all the entities of the locomotion interface (cables and moving bodies). Then, the final design is described and its performances are given. Finally, in order to validate the relevance of the mechanism for the locomotion interface’s design, tensile forces in the cables are computed to observe the maximal values reached during a typical human gait trajectory.
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e-mail: simon.perreault.2@ulaval.ca
e-mail: gosselin@gmc.ulaval.ca
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October 2008
Research Papers
Cable-Driven Parallel Mechanisms: Application to a Locomotion Interface
Simon Perreault,
Simon Perreault
Département de Génie Mécanique,
e-mail: simon.perreault.2@ulaval.ca
Université Laval
, Québec, QC, G1K 7P4, Canada
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Clément M. Gosselin
Clément M. Gosselin
Département de Génie Mécanique,
e-mail: gosselin@gmc.ulaval.ca
Université Laval
, Québec, QC, G1K 7P4, Canada
Search for other works by this author on:
Simon Perreault
Département de Génie Mécanique,
Université Laval
, Québec, QC, G1K 7P4, Canadae-mail: simon.perreault.2@ulaval.ca
Clément M. Gosselin
Département de Génie Mécanique,
Université Laval
, Québec, QC, G1K 7P4, Canadae-mail: gosselin@gmc.ulaval.ca
J. Mech. Des. Oct 2008, 130(10): 102301 (8 pages)
Published Online: August 21, 2008
Article history
Received:
June 20, 2007
Revised:
May 29, 2008
Published:
August 21, 2008
Citation
Perreault, S., and Gosselin, C. M. (August 21, 2008). "Cable-Driven Parallel Mechanisms: Application to a Locomotion Interface." ASME. J. Mech. Des. October 2008; 130(10): 102301. https://doi.org/10.1115/1.2965607
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