Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: (a) Traditional design of 2DOF planar cable-robot with triangular workspace and (b) adaptive 2DOF planar cable-driven robot with pulley blocks that move along the sides of an equilateral triangle

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: (a) Dexterity index, (b) elastic stiffness index, and (c) normalized magnitude plot for the 2DOF traditional design with triangular workspace

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: (a) Elastic stiffness index, (b) normalized maximum, and (c) minimum magnitude plot for the three-cable, 2DOF design in ideal dexterity condition

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: Stiffness index as a function of r/b

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: Adaptive 2DOF planar cable robot with pulley blocks moving on linear guides

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: (a) The best feasible elastic stiffness index for a three-cable, 2DOF design. (b) Magnitude and (c) dexterity index for the condition of the best feasible elastic stiffness in three-cable system.

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: (a) A sample end-effector trajectory and the corresponding (b) cable configurations, (c) elastic stiffness, magnitude, and (d) the dexterity

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: Stiffness and dexterity change as a function of the parameter (r/b)

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: Adaptive 2DOF planar cable robot with pulley blocks moving on a circle

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: (a) Elastic stiffness index, (b) normalized stiffness magnitude for a 2DOF circular cable-driven parallel robot under ideal dexterity condition

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: The best feasible elastic stiffness and magnitude of the adaptive 2DOF planar cable robot with pulleys moving on a circle under the ideal dexterity condition

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: (a) Changing in value of α and (b) the dexterity index and the normalized stiffness magnitude from the center to the circumference under the isotropic elastic stiffness

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: Adaptive 3DOF planar cable robot with pulleys moving on a circumference

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: (a) Translational elastic stiffness index and (b) stiffness magnitude for a 3DOF circular cable-driven robot under ideal dexterity condition

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots J. Mechanisms Robotics. 2017;9(3):031004-031004-11. doi:10.1115/1.4035681 Figure Legend: Normalized translational stiffness magnitude change for a 3DOF planar adaptive system