Wrench Recovery for Wire-Actuated Parallel Manipulators

  • Leila Notash
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)


Methodologies for investigating the effect of wire/actuator failures on the wrench capability of wire-actuated parallel manipulators are presented that result in minimum norm solution for the correctional wire tension and overall tension vectors. A planar manipulator is simulated to illustrate the proposed methodologies.


Jacobian Matrix Null Space Minimum Norm Range Space Task Space 
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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Leila Notash
    • 1
  1. 1.Queen’s UniversityKingstonCanada

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