Abstract
Parallel link mechanisms with flexible links (cable-driven robots) offer the following advantages: low link inertia, low noise, mobility, low material consumption and others. Cable-driven robots are finding more and more applications, examples of which are described in this article. After reviewing the examples, the possible classification criteria will be outlined and a classification for three- and four-coordinate flexible link manipulators will be developed. The S symbol indicates that the basic structural scheme is a mechanism that performs Schoen flies motion and the number of attachment points n on the output link and satisfy the following relations on the base i: 3 ≤ n ≤ 4 and 3 ≤ i ≤ 4, and the number of arrangement layouts of axes of the input links m and the combination of flexible links satisfy the following relations: 1 ≤ m ≤ 3 and 1 ≤ j ≤ 3 respectively. The article concludes with a summary of the work results and an outline of future research.
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Borisov, V.A., Ramzhaev, V.S., Levin, S.V., Kovaleva, N.L. (2022). Review of Technical Solutions for Parallel Mechanisms with Flexible Links (Cable-Driven Robots (CDR)). In: Hu, Z., Petoukhov, S., He, M. (eds) Advances in Artificial Systems for Medicine and Education V. AIMEE 2021. Lecture Notes on Data Engineering and Communications Technologies, vol 107 . Springer, Cham. https://doi.org/10.1007/978-3-030-92537-6_34
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