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Kinematic Modeling and Workspace Amplification of a Novel Cable-Driven Hybrid Robot via Configuration-Based Decoupling

Resolving inverse kinematics and evaluating constrained workspace remain challenging for multi-module cable-driven robots. This paper analyzes a dual-module cable-driven hybrid robot inspired by inchworm locomotion and proposes a new configuration-based decoupling strategy in which a scalar decoupli...

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Principais autores: Jiahao Song, Yiyi Zhao, Yuxian Zhang, Keyao Lian, Shuofei Yang
Formato: Artigo
Idioma:Inglês
Publicado: MDPI AG 2026-05-01
Series:Machines
Assuntos:
workspace amplification
robot kinematics
cable-driven robot
robot motion
bio-inspired robotics
Acceso en liña:https://www.mdpi.com/2075-1702/14/5/504
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