Analysis of Cable-Configurations of Kinematic Redundant Planar Cable-Driven Parallel Robot

  • Koki HirosatoEmail author
  • Takashi Harada
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)


A redundant planar three-dof cable-driven parallel robot is proposed and analysis of its cable-configuration is discussed in this paper. Loop cables and constant force springs unlimitedly rotate the endless-pulley which is embedded inside the moving part. The angle of the hand is redundantly given by the sum of the angles of the moving part frame and the endless-pulley. Three-dof hand is controlled by four-dof mechanism using five-cables. This means that the proposed CDPR is a novel cable-driven parallel robot which simultaneously has the kinematic and actuation redundancies. Tactical design and control for the cable-configurations are proposed as the robot satisfies the wrench-closure condition.


Cable-driven Redundantly Actuated Cable configurations Wrench-closure condition Kinematic redundancy 


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This research was supported by JSPS KAKENHI Grant Number 18K04068.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Kindai University, Graduate School of Science and Engineering ResearchHigashiosaka, OsakaJapan
  2. 2.Kindai UniversityHigashiosaka, OsakaJapan

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