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Mathematical Problems in Engineering
Volume 2013 (2013), Article ID 914653, 15 pages
http://dx.doi.org/10.1155/2013/914653
Research Article

Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator

1School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116, China
2Chair of Mechanics and Robotics, University of Duisburg-Essen, 47057 Duisburg, Germany
3G-SCOP Laboratory, Grenoble-INP/UJF-Grenoble 1/CNRS, 46 Avenue Félix Viallet, 38031 Grenoble Cedex 1, France

Received 8 September 2012; Revised 9 December 2012; Accepted 27 December 2012

Academic Editor: G. Rega

Copyright © 2013 Bin Zi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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