Saeed Behzadipour - Academia.edu (original) (raw)

Papers by Saeed Behzadipour

Research paper thumbnail of A modular extreme learning machine with linguistic interpreter and accelerated chaotic distributor for evaluating the safety of robot maneuvers in laparoscopic surgery

Neurocomputing, 2015

ABSTRACT In this investigation, a systematic sequential intelligent system is proposed to provide... more ABSTRACT In this investigation, a systematic sequential intelligent system is proposed to provide the surgeon with an estimation of the state of the tool-tissue interaction force in laparoscopic surgery. To train the proposed intelligent system, a 3D model of an in vivo porcine liver was built for different probing tasks. To capture the required knowledge, three different geometric features, i.e. Y displacement of the nodes on the upper surface and slopes on the closest node to the deforming area of the upper edge in both X–Y and Z–Y planes, were extracted experimentally. The numerical simulations are conducted in three independent successive stages. At the first step, a well-known partition-based clustering technique called accelerated chaotic particle swarm optimization (ACPSO) is used to cluster the information of database into a number of partitions. Thereafter, a modular extreme learning machine (M-ELM) is used to model the characteristics of each cluster. Finally, the output of M-ELM is fed to a Mamdani fuzzy inference system (MFIS) to interpret the safety of robot maneuvers in laparoscopic surgery. The proposed intelligent framework is used for real-time applications so that the surgeon can adjust the movements of the robot to avoid operational hazards. Based on a rigor comparative study, it is indicated that not only the proposed intelligent technique can effectively handle the considered problem but also is a reliable alternative to physical sensors and measurement tools.

Research paper thumbnail of High-speed cable-based robots with translational motion

ABSTRACT Thesis (Ph.D.)--University of Waterloo, 2005. Includes bibliographical references.

Research paper thumbnail of Shoulder and Elbow Joint Angle Estimation for Upper Limb Rehabilitation Tasks Using Low-Cost Inertial and Optical Sensors

Journal of Mechanics in Medicine and Biology, 2017

Research paper thumbnail of Introducing a new semi-active engine mount using force controlled variable stiffness

Http Dx Doi Org 10 1080 00423114 2013 768347, Feb 27, 2013

ABSTRACT This work introduces a new concept in designing semi-active engine mounts. Engine mounts... more ABSTRACT This work introduces a new concept in designing semi-active engine mounts. Engine mounts are under continuous development to provide better and more cost-effective engine vibration control. Passive engine mounts do not provide satisfactory solution. Available semi-active and active mounts provide better solutions but they are more complex and expensive. The variable stiffness engine mount (VSEM) is a semi-active engine mount with a simple ON–OFF control strategy. However, unlike available semi-active engine mounts that work based on damping change, the VSEM works based on the static stiffness change by using a new fast response force controlled variable spring. The VSEM is an improved version of the vibration mount introduced by the authors in their previous work. The results showed significant performance improvements over a passive rubber mount. The VSEM also provides better vibration control than a hydromount at idle speed. Low hysteresis and the ability to be modelled by a linear model in low-frequency are the advantages of the VSEM over the vibration isolator introduced earlier and available hydromounts. These specifications facilitate the use of VSEM in the automotive industry, however, further evaluation and developments are needed for this purpose.

Research paper thumbnail of Model reference adaptive impedance control in Cartesian coordinates for physical human–robot interaction

Http Dx Doi Org 10 1080 01691864 2014 933125, Jul 30, 2014

ABSTRACT In this paper, a nonlinear model reference adaptive impedance controller is proposed and... more ABSTRACT In this paper, a nonlinear model reference adaptive impedance controller is proposed and tested. The controller provides asymptotic tracking of a reference impedance model for the robot end-effector in Cartesian coordinates applicable to rehabilitation robotics or any other human–robot interactions such as haptic systems. The controller uses the parameters of a desired stable reference model which is the target impedance for the robot’s end-effector. It also considers uncertainties in the model parameters of the robot. The asymptotic tracking is proven using Lyapunov stability theorem. Moreover, the adaptation law is proposed in joint space for reducing the complexity of its calculations; however, the controller and the stability proof are all presented in Cartesian coordinates. Using simulations and experiments on a two DOFs robot, the effectiveness of the proposed controller is investigated.

Research paper thumbnail of Design and testing of an ultra-high-speed cable robot

International Journal of Robotics and Automation, 2006

Research paper thumbnail of Medical Robotics: State-of-the-Art Applications and Research Challenges

International Journal of Healthcare Information Systems and Informatics, Apr 1, 2013

Many research and development projects are being performed worldwide to develop new products and ... more Many research and development projects are being performed worldwide to develop new products and applications for computer-assisted and medical robotic systems. In this paper, an overview of selected state-ofthe-art applications of robotic technology in medicine is presented. Four key areas of image-guided surgery, virtual reality in medicine, surgical robots, and robotic rehabilitation systems, are studied. As well, current challenges in research and development are discussed.

Research paper thumbnail of An overview of medical robotics in Iran

Annales Des Mines Realites Industrielles, Feb 1, 2012

Research paper thumbnail of Design of reduced DOF parallel cable-based robots

Mechanism and Machine Theory, Oct 1, 2004

In this paper, a new approach for the study and design of cable-based robots are presented. In th... more In this paper, a new approach for the study and design of cable-based robots are presented. In the cablebased robots, a telescopic element is used to apply a force to the end-effector in order to maintain tension in all cables. As a result, cables tensions or internal forces in the manipulator appear in the design procedure which in turn makes the design procedure more complex than rigid-link robots. The main focus of this work is to introduce a geometrical approach for the study of this problem. In this approach, the capability of the end-effector for applying force and torque to external object is called force/torque capacity and is considered as the main target of the design process. The force and torque capacity of the manipulator is illustrated in a 3D space whose axes are force or torque components. It is shown that the force and torque capacity have a convex cone and parallelepiped shape, respectively. The design problem is then reduced to the sizing of these shapes according to the design requirements and manufacturing limitations. The approach is applied to the design of DeltaBot, a 3DOF cable-based parallel manipulator and the results are presented.

Research paper thumbnail of A modular force-controlled robotic instrument for minimally invasive surgery - efficacy for being used in autonomous grasping against a variable pull force

The International Journal of Medical Robotics and Computer Assisted Surgery, 2016

Many deficiencies of minimally invasive robotic surgery systems can be eliminated by using automa... more Many deficiencies of minimally invasive robotic surgery systems can be eliminated by using automated laparoscopic tools with force measurement and control capability. A fully modular, automated laparoscopic instrument with a proximal force sensory system was designed and fabricated. The efficacy of the instrument was evaluated experimentally when functioning in an autonomous force-controlled grasping scheme. The designed instrument was shown to work easily with standard laparoscopic tools, with the whole distal part detachable for autoclave sterilization. The root mean squared error (RMSE) of the actual pinch force from the target ramp was 0.318 N; it was 0.402 N for a sinusoidal pull force, which dropped by 21% using a static friction compensation. A secure grasping condition was achieved, in spite of this error, by applying a sufficiently large margin from the slip boundary. With a simple and practical design, the instrument enjoys affordability, versatility and autoclave sterilizability for clinical usage, with an acceptable performance for being used in an auto-grasping control scheme. Copyright © 2016 John Wiley & Sons, Ltd.

Research paper thumbnail of Design and Implementation of a PC-based Controller for a New Cable Driven Robot

Research paper thumbnail of Variable Antagonistic Stiffness Element Using Tensegrity Mechanism

ABSTRACT Tensegrity mechanisms are self-stressing mechanisms and it is known that the prestress o... more ABSTRACT Tensegrity mechanisms are self-stressing mechanisms and it is known that the prestress of the elements affect the stiffness of the tensegrity. In this paper stiffness of a spatial tensegrity is studied for the purpose of the noise and vibration control and it is shown that an efficient variable stiffness element can be designed by using tensegrities. The antagonistic force and antagonistic stiffness are explained briefly and the kinematics of the tensegrity is analyzed. Also, the possible motion, the elastic stiffness, load stiffness and antagonistic stiffness formulation for the tensegrity are found symbolically. Some techniques for increasing the magnitude of the antagonistic stiffness are mentioned. The effect of the geometry on the stiffness, stiffness controllability and linearity are shown by examples. Finally, the results of this approach are verified by mechanical simulation of the designed tensegrity.

Research paper thumbnail of Impedance Control of Cable-Driven Mechanisms

ABSTRACT In this work, an impedance control method is developed and applied to two cable-driven m... more ABSTRACT In this work, an impedance control method is developed and applied to two cable-driven mechanisms. The first one is a classical problem of driving a rigid body in 3-D space by seven cables. Our approach is based on the impedance control of rigid link manipulators which is then extended to include the specific considerations of the cable-driven mechanisms such as maintaining the tensile force in the cables. The method is then extended to the serial multibody cable-driven mechanisms. The motivation for this problem is the possible application of cable-driven systems in the rehabilitative exercises such as physical and/or occupational therapies. In this case, the human body acts as a multibody system which is driven by cables attached. The impedance control in such application facilitates the comfort of the patient by providing the necessary compliance while moving the body parts. The formulation of the problem is developed using Lagrange’s equation and the control input (which is the cable forces) is calculated based on the position and/or force feedback from the multibody. Simulation results demonstrate the effectiveness of the presented method.

Research paper thumbnail of Light weight parallel manipulators using active/passive cables

Research paper thumbnail of Tool-tissue force estimation in laparoscopic surgery using geometric features

Studies in Health Technology and Informatics, 2013

Research paper thumbnail of Cable-based Robot Manipulators with Translational Degrees of Freedom

2. Low inertia: Materials provide their highest strength-to-mass ratio when they are under tensil... more 2. Low inertia: Materials provide their highest strength-to-mass ratio when they are under tensile loading. Using cables, which can be only in tension, maximizes the use of material strength and therefore reduces the mass and inertia of the manipulator. Low inertia is desirable in many applications including high speed/acceleration robotics.

Research paper thumbnail of Test–retest reliability of Kinect’s measurements for the evaluation of upper body recovery of stroke patients

BioMedical Engineering OnLine, 2015

Using virtual reality systems for stroke rehabilitation is a flourishing field in physical and ne... more Using virtual reality systems for stroke rehabilitation is a flourishing field in physical and neurological rehabilitation. Such systems can help patients have a more intensive and entertaining training. They are commonly composed of a sensory device to capture the patient's movements, and a computer interface to communicate with the patient and Abstract Background: Performance indices provide quantitative measures for the quality of motion, and therefore, assist in analyzing and monitoring patients' progress. Measurement of performance indices requires costly devices, such as motion capture systems. Recent developments of sensors for game controllers, such as Microsoft Kinect, have motivated many researchers to develop affordable systems for performance measurement applicable to home and clinical care. In this work, the capability of Kinect in finding motion performance indices was assessed by analyzing intra-session and intersession test-retest reliability.

Research paper thumbnail of Tensionability of an Arbitrary Two-Link Multibody

Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 2009

The main problem in cable-driven mechanisms is their tensionability, ie maintaining positive tens... more The main problem in cable-driven mechanisms is their tensionability, ie maintaining positive tension in all cables against any external load. Since the advent of these mechanisms, it was known that with one redundant cable, one can guarantee the tensionability of a rigid body ...

Research paper thumbnail of Impedance Control of Cable-Driven Mechanisms

Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 2008

ABSTRACT In this work, an impedance control method is developed and applied to two cable-driven m... more ABSTRACT In this work, an impedance control method is developed and applied to two cable-driven mechanisms. The first one is a classical problem of driving a rigid body in 3-D space by seven cables. Our approach is based on the impedance control of rigid link manipulators which is then extended to include the specific considerations of the cable-driven mechanisms such as maintaining the tensile force in the cables. The method is then extended to the serial multibody cable-driven mechanisms. The motivation for this problem is the possible application of cable-driven systems in the rehabilitative exercises such as physical and/or occupational therapies. In this case, the human body acts as a multibody system which is driven by cables attached. The impedance control in such application facilitates the comfort of the patient by providing the necessary compliance while moving the body parts. The formulation of the problem is developed using Lagrange’s equation and the control input (which is the cable forces) is calculated based on the position and/or force feedback from the multibody. Simulation results demonstrate the effectiveness of the presented method.

Research paper thumbnail of Tensionability Conditions of a Multi-Body System Driven by Cables

Volume 9: Mechanical Systems and Control, Parts A, B, and C, 2007

Cable-driven mechanisms have been reported in the literature for the manipulation of a single rig... more Cable-driven mechanisms have been reported in the literature for the manipulation of a single rigid body. A cable-driven mechanism configured as a Completely Restrained Positioning Mechanism (CRPM)[6], requires a minimum of n+ 1 cables to maintain the ...

Research paper thumbnail of A modular extreme learning machine with linguistic interpreter and accelerated chaotic distributor for evaluating the safety of robot maneuvers in laparoscopic surgery

Neurocomputing, 2015

ABSTRACT In this investigation, a systematic sequential intelligent system is proposed to provide... more ABSTRACT In this investigation, a systematic sequential intelligent system is proposed to provide the surgeon with an estimation of the state of the tool-tissue interaction force in laparoscopic surgery. To train the proposed intelligent system, a 3D model of an in vivo porcine liver was built for different probing tasks. To capture the required knowledge, three different geometric features, i.e. Y displacement of the nodes on the upper surface and slopes on the closest node to the deforming area of the upper edge in both X–Y and Z–Y planes, were extracted experimentally. The numerical simulations are conducted in three independent successive stages. At the first step, a well-known partition-based clustering technique called accelerated chaotic particle swarm optimization (ACPSO) is used to cluster the information of database into a number of partitions. Thereafter, a modular extreme learning machine (M-ELM) is used to model the characteristics of each cluster. Finally, the output of M-ELM is fed to a Mamdani fuzzy inference system (MFIS) to interpret the safety of robot maneuvers in laparoscopic surgery. The proposed intelligent framework is used for real-time applications so that the surgeon can adjust the movements of the robot to avoid operational hazards. Based on a rigor comparative study, it is indicated that not only the proposed intelligent technique can effectively handle the considered problem but also is a reliable alternative to physical sensors and measurement tools.

Research paper thumbnail of High-speed cable-based robots with translational motion

ABSTRACT Thesis (Ph.D.)--University of Waterloo, 2005. Includes bibliographical references.

Research paper thumbnail of Shoulder and Elbow Joint Angle Estimation for Upper Limb Rehabilitation Tasks Using Low-Cost Inertial and Optical Sensors

Journal of Mechanics in Medicine and Biology, 2017

Research paper thumbnail of Introducing a new semi-active engine mount using force controlled variable stiffness

Http Dx Doi Org 10 1080 00423114 2013 768347, Feb 27, 2013

ABSTRACT This work introduces a new concept in designing semi-active engine mounts. Engine mounts... more ABSTRACT This work introduces a new concept in designing semi-active engine mounts. Engine mounts are under continuous development to provide better and more cost-effective engine vibration control. Passive engine mounts do not provide satisfactory solution. Available semi-active and active mounts provide better solutions but they are more complex and expensive. The variable stiffness engine mount (VSEM) is a semi-active engine mount with a simple ON–OFF control strategy. However, unlike available semi-active engine mounts that work based on damping change, the VSEM works based on the static stiffness change by using a new fast response force controlled variable spring. The VSEM is an improved version of the vibration mount introduced by the authors in their previous work. The results showed significant performance improvements over a passive rubber mount. The VSEM also provides better vibration control than a hydromount at idle speed. Low hysteresis and the ability to be modelled by a linear model in low-frequency are the advantages of the VSEM over the vibration isolator introduced earlier and available hydromounts. These specifications facilitate the use of VSEM in the automotive industry, however, further evaluation and developments are needed for this purpose.

Research paper thumbnail of Model reference adaptive impedance control in Cartesian coordinates for physical human–robot interaction

Http Dx Doi Org 10 1080 01691864 2014 933125, Jul 30, 2014

ABSTRACT In this paper, a nonlinear model reference adaptive impedance controller is proposed and... more ABSTRACT In this paper, a nonlinear model reference adaptive impedance controller is proposed and tested. The controller provides asymptotic tracking of a reference impedance model for the robot end-effector in Cartesian coordinates applicable to rehabilitation robotics or any other human–robot interactions such as haptic systems. The controller uses the parameters of a desired stable reference model which is the target impedance for the robot’s end-effector. It also considers uncertainties in the model parameters of the robot. The asymptotic tracking is proven using Lyapunov stability theorem. Moreover, the adaptation law is proposed in joint space for reducing the complexity of its calculations; however, the controller and the stability proof are all presented in Cartesian coordinates. Using simulations and experiments on a two DOFs robot, the effectiveness of the proposed controller is investigated.

Research paper thumbnail of Design and testing of an ultra-high-speed cable robot

International Journal of Robotics and Automation, 2006

Research paper thumbnail of Medical Robotics: State-of-the-Art Applications and Research Challenges

International Journal of Healthcare Information Systems and Informatics, Apr 1, 2013

Many research and development projects are being performed worldwide to develop new products and ... more Many research and development projects are being performed worldwide to develop new products and applications for computer-assisted and medical robotic systems. In this paper, an overview of selected state-ofthe-art applications of robotic technology in medicine is presented. Four key areas of image-guided surgery, virtual reality in medicine, surgical robots, and robotic rehabilitation systems, are studied. As well, current challenges in research and development are discussed.

Research paper thumbnail of An overview of medical robotics in Iran

Annales Des Mines Realites Industrielles, Feb 1, 2012

Research paper thumbnail of Design of reduced DOF parallel cable-based robots

Mechanism and Machine Theory, Oct 1, 2004

In this paper, a new approach for the study and design of cable-based robots are presented. In th... more In this paper, a new approach for the study and design of cable-based robots are presented. In the cablebased robots, a telescopic element is used to apply a force to the end-effector in order to maintain tension in all cables. As a result, cables tensions or internal forces in the manipulator appear in the design procedure which in turn makes the design procedure more complex than rigid-link robots. The main focus of this work is to introduce a geometrical approach for the study of this problem. In this approach, the capability of the end-effector for applying force and torque to external object is called force/torque capacity and is considered as the main target of the design process. The force and torque capacity of the manipulator is illustrated in a 3D space whose axes are force or torque components. It is shown that the force and torque capacity have a convex cone and parallelepiped shape, respectively. The design problem is then reduced to the sizing of these shapes according to the design requirements and manufacturing limitations. The approach is applied to the design of DeltaBot, a 3DOF cable-based parallel manipulator and the results are presented.

Research paper thumbnail of A modular force-controlled robotic instrument for minimally invasive surgery - efficacy for being used in autonomous grasping against a variable pull force

The International Journal of Medical Robotics and Computer Assisted Surgery, 2016

Many deficiencies of minimally invasive robotic surgery systems can be eliminated by using automa... more Many deficiencies of minimally invasive robotic surgery systems can be eliminated by using automated laparoscopic tools with force measurement and control capability. A fully modular, automated laparoscopic instrument with a proximal force sensory system was designed and fabricated. The efficacy of the instrument was evaluated experimentally when functioning in an autonomous force-controlled grasping scheme. The designed instrument was shown to work easily with standard laparoscopic tools, with the whole distal part detachable for autoclave sterilization. The root mean squared error (RMSE) of the actual pinch force from the target ramp was 0.318 N; it was 0.402 N for a sinusoidal pull force, which dropped by 21% using a static friction compensation. A secure grasping condition was achieved, in spite of this error, by applying a sufficiently large margin from the slip boundary. With a simple and practical design, the instrument enjoys affordability, versatility and autoclave sterilizability for clinical usage, with an acceptable performance for being used in an auto-grasping control scheme. Copyright © 2016 John Wiley & Sons, Ltd.

Research paper thumbnail of Design and Implementation of a PC-based Controller for a New Cable Driven Robot

Research paper thumbnail of Variable Antagonistic Stiffness Element Using Tensegrity Mechanism

ABSTRACT Tensegrity mechanisms are self-stressing mechanisms and it is known that the prestress o... more ABSTRACT Tensegrity mechanisms are self-stressing mechanisms and it is known that the prestress of the elements affect the stiffness of the tensegrity. In this paper stiffness of a spatial tensegrity is studied for the purpose of the noise and vibration control and it is shown that an efficient variable stiffness element can be designed by using tensegrities. The antagonistic force and antagonistic stiffness are explained briefly and the kinematics of the tensegrity is analyzed. Also, the possible motion, the elastic stiffness, load stiffness and antagonistic stiffness formulation for the tensegrity are found symbolically. Some techniques for increasing the magnitude of the antagonistic stiffness are mentioned. The effect of the geometry on the stiffness, stiffness controllability and linearity are shown by examples. Finally, the results of this approach are verified by mechanical simulation of the designed tensegrity.

Research paper thumbnail of Impedance Control of Cable-Driven Mechanisms

ABSTRACT In this work, an impedance control method is developed and applied to two cable-driven m... more ABSTRACT In this work, an impedance control method is developed and applied to two cable-driven mechanisms. The first one is a classical problem of driving a rigid body in 3-D space by seven cables. Our approach is based on the impedance control of rigid link manipulators which is then extended to include the specific considerations of the cable-driven mechanisms such as maintaining the tensile force in the cables. The method is then extended to the serial multibody cable-driven mechanisms. The motivation for this problem is the possible application of cable-driven systems in the rehabilitative exercises such as physical and/or occupational therapies. In this case, the human body acts as a multibody system which is driven by cables attached. The impedance control in such application facilitates the comfort of the patient by providing the necessary compliance while moving the body parts. The formulation of the problem is developed using Lagrange’s equation and the control input (which is the cable forces) is calculated based on the position and/or force feedback from the multibody. Simulation results demonstrate the effectiveness of the presented method.

Research paper thumbnail of Light weight parallel manipulators using active/passive cables

Research paper thumbnail of Tool-tissue force estimation in laparoscopic surgery using geometric features

Studies in Health Technology and Informatics, 2013

Research paper thumbnail of Cable-based Robot Manipulators with Translational Degrees of Freedom

2. Low inertia: Materials provide their highest strength-to-mass ratio when they are under tensil... more 2. Low inertia: Materials provide their highest strength-to-mass ratio when they are under tensile loading. Using cables, which can be only in tension, maximizes the use of material strength and therefore reduces the mass and inertia of the manipulator. Low inertia is desirable in many applications including high speed/acceleration robotics.

Research paper thumbnail of Test–retest reliability of Kinect’s measurements for the evaluation of upper body recovery of stroke patients

BioMedical Engineering OnLine, 2015

Using virtual reality systems for stroke rehabilitation is a flourishing field in physical and ne... more Using virtual reality systems for stroke rehabilitation is a flourishing field in physical and neurological rehabilitation. Such systems can help patients have a more intensive and entertaining training. They are commonly composed of a sensory device to capture the patient's movements, and a computer interface to communicate with the patient and Abstract Background: Performance indices provide quantitative measures for the quality of motion, and therefore, assist in analyzing and monitoring patients' progress. Measurement of performance indices requires costly devices, such as motion capture systems. Recent developments of sensors for game controllers, such as Microsoft Kinect, have motivated many researchers to develop affordable systems for performance measurement applicable to home and clinical care. In this work, the capability of Kinect in finding motion performance indices was assessed by analyzing intra-session and intersession test-retest reliability.

Research paper thumbnail of Tensionability of an Arbitrary Two-Link Multibody

Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 2009

The main problem in cable-driven mechanisms is their tensionability, ie maintaining positive tens... more The main problem in cable-driven mechanisms is their tensionability, ie maintaining positive tension in all cables against any external load. Since the advent of these mechanisms, it was known that with one redundant cable, one can guarantee the tensionability of a rigid body ...

Research paper thumbnail of Impedance Control of Cable-Driven Mechanisms

Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 2008

ABSTRACT In this work, an impedance control method is developed and applied to two cable-driven m... more ABSTRACT In this work, an impedance control method is developed and applied to two cable-driven mechanisms. The first one is a classical problem of driving a rigid body in 3-D space by seven cables. Our approach is based on the impedance control of rigid link manipulators which is then extended to include the specific considerations of the cable-driven mechanisms such as maintaining the tensile force in the cables. The method is then extended to the serial multibody cable-driven mechanisms. The motivation for this problem is the possible application of cable-driven systems in the rehabilitative exercises such as physical and/or occupational therapies. In this case, the human body acts as a multibody system which is driven by cables attached. The impedance control in such application facilitates the comfort of the patient by providing the necessary compliance while moving the body parts. The formulation of the problem is developed using Lagrange’s equation and the control input (which is the cable forces) is calculated based on the position and/or force feedback from the multibody. Simulation results demonstrate the effectiveness of the presented method.

Research paper thumbnail of Tensionability Conditions of a Multi-Body System Driven by Cables

Volume 9: Mechanical Systems and Control, Parts A, B, and C, 2007

Cable-driven mechanisms have been reported in the literature for the manipulation of a single rig... more Cable-driven mechanisms have been reported in the literature for the manipulation of a single rigid body. A cable-driven mechanism configured as a Completely Restrained Positioning Mechanism (CRPM)[6], requires a minimum of n+ 1 cables to maintain the ...