1. Date of download: 11/2/2017
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From: Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model
J. Mechanisms Robotics. 2017;9(6): doi: /
Figure Legend:
Comparison between linear and nonlinear tension formulations: tension, elongation, and strain for the three cables. Time history of tension T1 (a), of elongation r1 (b), of strain of cable 1 (c), of tension T2 (d), of elongation r2 (e), of strain of cable 2 (f), of tension T3 (g), of elongation r3 (h), and of strain of cable 3 (i).