Kinematic and Static Analysis of a Coupled-Input Cable-Driven Force Feedback Master Manipulator

In response to the requirement of a master-slave system for grinding large cast parts, this paper presents the development of a master manipulator with a large workspace and low inertia in its moving parts. The manipulator with three degrees of freedom is innovatively designed using a coupled-input cable-driven approach. Moreover, the accurate kinematic and static models considering the pulley parameters have been developed. Based on this basis, experiments on force feedback output have been performed. Preliminary results confirm that the newly developed master manipulator possesses excellent motion and mechanical properties, making it well-suited for applications in force-feedback master-slave systems.