1. 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): doi: /
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

2. 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): doi: /
Figure Legend:
(a) Dexterity index, (b) elastic stiffness index, and (c) normalized magnitude plot for the 2DOF traditional design with triangular workspace

3. 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): doi: /
Figure Legend:
(a) Elastic stiffness index, (b) normalized maximum, and (c) minimum magnitude plot for the three-cable, 2DOF design in ideal dexterity condition

4. 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): doi: /
Figure Legend:
Stiffness index as a function of r/b

5. 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): doi: /
Figure Legend:
Adaptive 2DOF planar cable robot with pulley blocks moving on linear guides

6. 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): doi: /
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.

7. 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): doi: /
Figure Legend:
(a) A sample end-effector trajectory and the corresponding (b) cable configurations, (c) elastic stiffness, magnitude, and (d) the dexterity

8. 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): doi: /
Figure Legend:
Stiffness and dexterity change as a function of the parameter (r/b)

9. 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): doi: /
Figure Legend:
Adaptive 2DOF planar cable robot with pulley blocks moving on a circle

10. 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): doi: /
Figure Legend:
(a) Elastic stiffness index, (b) normalized stiffness magnitude for a 2DOF circular cable-driven parallel robot under ideal dexterity condition

11. 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): doi: /
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

12. 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): doi: /
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

13. 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): doi: /
Figure Legend:
Adaptive 3DOF planar cable robot with pulleys moving on a circumference

14. 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): doi: /
Figure Legend:
(a) Translational elastic stiffness index and (b) stiffness magnitude for a 3DOF circular cable-driven robot under ideal dexterity condition

15. 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): doi: /
Figure Legend:
Normalized translational stiffness magnitude change for a 3DOF planar adaptive system