Design and analysis of completely restrained cable manipulators with 3 Degrees of Freedom

This paper investigates the design, workspace, and analysis of completely restrained cable manipulators (CRCM) with 3 Degrees of Freedom (DOF). The design of the drive transmission system and integrated CRCM system is developed. According to the equivalent circuit of the servo mechanism, the dynamic formulation of the electromechanical coupling system for CRCM is studied. The workspace of the CRCM is also discussed. Finally, the results are demonstrated through simulation on a 3-DOF CRCM.