New cable manipulators

Abstract eng:
The paper deals with the analysis of different cable manipulators. The cable manipulators are analysed from the point of the size of the working space and especially of the transfer of the forces between drives and end-effector. The existing cable manipulators either require the cable access from all sides or have unfavourable transfer of the forces in the case of tendon manipulators. It is described new variants of cable manipulators that overcome these drawbacks and posses really very good and especially uniform ratios of force transfer with cable access just from one side.

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