2022
Highly Dynamic 2-DOF Cable-Driven Robotic Wrist Based on a Novel Topology
Takeru Nemoto, Jonas Walter, Christian Bachmann, Matthias Gerlich, Sebastian Reitelshöfer, Jörg Franke
RA-L 2022
This letter presents a highly dynamic cable-driven robotic wrist with two degrees of freedom (DOFs). It is based on a novel topology that combines three passive cables for kinematic constraint and the minimal number of active cables for the full control of a movable platform in two rotational DOFs.