Conditions on the Cable-Routing Matrix for Wrench Closure of Multilink Cable-Driven Manipulators

Abstract

Local synthesis establishes a relationship between the relative motion and the local geometry properties of gear and pinion surfaces at one single (mean) point. Theoretically, local synthesis design of spiral bevel and hypoid gears cannot ensure the contact performance along the entire contact point path (CPP) resulting in uncontrolled contact ellipses with different sizes and unavoidable transmission errors (TEs). Based on local synthesis, tooth contact analysis (TCA) and third-order contact analysis provide supplementary methods for improvement but still cannot directly control the entire CPP. A global synthesis approach is proposed to directly design the entire CPP by which it is possible..