Cable-driven parallel robot (CDPR) consists of three parts: an end-effector, a number of cables and actuators. CDPRs are a type of parallel manipulators which the end-effector is supported in parallel by cables. CDPRs have two types. One is the fully-constrained type, and the other is the under constrained type. Fully-constrained type cable robot require n+1 wires, where n is the number of freedom to be constrained [1].

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