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    Optimization of Tension Distribution for Cable-Driven Manipulators Using Tension-Level Index by Lim, Wen Bin, Yeo, Song Huat, Yang, Guilin

    Published 2016
    “…Cable-driven manipulators (CDMs) are a special class of parallel manipulators driven by cables instead of rigid links. Due to the unilateral driving property of cables, CDMs require redundant actuation to maintain positive cable tensions. …”
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    Journal Article
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