Kinematic and Static Modelling of a New Two-Degree-of-Freedom Cable Operated Joint

This paper proposes a new two-degrees-of-freedom (dof) cable actuatedmechanism which can be utilized for lightweight variable-stiffnessmanipulators. Using numerical methods, a kinematic model for the proposedmechanism is derived for determining the mechanism’s configurationsand cable lengths for a pair of independent task-space variables. Thenumerical algorithm used for estimating the workspace is cross-validatedwith a virtual prototype of the mechanism using ONSHAPE®. The workpresented in the paper concludes with the static modelling of the mechanism,which yielded insights regarding the magnitude of the actuationforces, depending on the desired wrench-feasible workspace of the mechanism