Cable-direct-driven-robot (CDDR) with a 3-link passive serial support

Cable-direct-driven robots(CDDRs)providedwithapassiveserialsupportrepresentaninterestingand rising evolutionofplanarcablerobots.ThepaperisdevotedtopresentandanalyzeanovelCDDRrobot. The robotconsistsinafullyactuatedCDDRsupportedagainstloadingnormaltothemotionplanewitha 3-link passiveplanarserialmanipulator.Thishybridstructurecombinespositivefeaturesofbothparallel and serialarchitectures,andpreventsout-of-planemovementswithoutthenecessityfortherobottobe supported onthemotionplane.Theadoptionofa3-linkserialmanipulatorensuresagreaterworkspace area comparedwithsimilarstructuresthatadoptasmallernumberoflinks,andimprovesspecific characteristicsoftheirdynamics.Neverthelessundesiredoscillationsmayoccursincetheserial manipulator isunderconstrained.Forthisreasondampingelementsareinsertedinthestructure. Simulation examplesarepresentedtodemonstratethenovelCDDRconceptanditsdynamics.In addition, astrategytoselectpropervaluesofdampingcoefficients ispresented.