Abstract

Cable-driven parallel mechanisms, also known as cable-suspended parallel mechanisms attract lots of attention in recent years. Intensive studies on three-degree-of-freedom planar cable-driven parallel mechanism and six-degree-of-freedom spatial cable-driven parallel mechanism have been carried out. The above-mentioned two kinds of mechanisms have full degrees of freedom respectively in planar and spatial manner. It is noted that few research has been conducted on lower-mobility cable-driven parallel mechanisms. This paper presents a new cable-driven parallel mechanism having four degrees of freedom which contain one translational motion and three rotational motions. The mobility of the proposed mechanism is analyzed by instantaneous screw-based method. Meanwhile, a finite displacement screw-based method is also employed for mobility analysis of this lower mobility cable-driven parallel mechanism.

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