A review on topological architecture and design methods of cable-driven mechanism


Research on the cable-driven mechanism has greatly developed with the booming of the robots in the past 30 years, and a range of corresponding theoretical studies have been published on them. The large-scale robot or manipulator with the complex cable-driven mechanism can be reconfigured. However, more theoretical studies are required on their topological architecture design and optimization to achieve this. Therefore, the applied cable-driven architectures and the corresponding theoretical studies are reviewed and summarized here. The parallel, serial, and differential architecture are illustrated, as well as their theories and methods, such as the workspace analysis based on the Jacobian matrix, particle swarm optimization and genetic algorithm, and kinematic design based on the graph theory are described. The features of the architecture and the theory studies are concluded. It is hoped that this study will help with design of future studies.

Publication DOI: https://doi.org/10.1177/1687814018774186
Divisions: College of Health & Life Sciences > School of Biosciences
College of Health & Life Sciences
Additional Information: This article is distributed under the terms of the Creative Commons Attribution 4.0 License (http://www.creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/open-access-at-sage)
Publication ISSN: 1687-8140
Last Modified: 01 Jan 2024 08:19
Date Deposited: 15 Oct 2020 09:49
Full Text Link: http://gateway. ... 000432176600001
Related URLs: https://journal ... 687814018774186 (Publisher URL)
PURE Output Type: Review article
Published Date: 2018-05-10
Accepted Date: 2018-04-06
Authors: Hong, Huajie
Jabran, Ali (ORCID Profile 0000-0002-2354-281X)
Ren, Lei



Version: Published Version

License: Creative Commons Attribution

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