On improving stiffness of cable robots

Carl A. Nelson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations


Stiffness of cable-driven parallel manipulators is dependent on the cable stiffnesses, cable tensions, and kinematic characteristics of the manipulator. In this paper, a general approach to stiffening this type of robot is put forward. The approach is based on two main principles: making constructive use of pulley-based force amplification, and adjusting the geometry of kinematic constraints. The approach is illustrated with an example.

Original languageEnglish (US)
Title of host publicationCable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots
EditorsTobias Bruckmann, Clement Gosselin, Philippe Cardou, Andreas Pott
PublisherSpringer Netherlands
Number of pages9
ISBN (Print)9783319614304
StatePublished - 2018
Event3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017 - Quebec City, Canada
Duration: Aug 2 2017Aug 4 2017

Publication series

NameMechanisms and Machine Science
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992


Other3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017
CityQuebec City

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering


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