Haomiao Wang

A Cable-Driven Redundant Spatial Manipulator with Improved Stiffness and Load Capacity

With a light and slender body, a cable-driven redundant spatial manipulator (CRSM) has flexible manipulability and high maneuverability in confined environment. However, compared with revolute rigid manipulators, such type of manipulators generally has low stiffness and weak load capacity. In this p…