Research Article

Working and Limitations of Cable Stiffening in Flexible Link Manipulators

Table 1

Simulation parameters of FLM.

Parameter Value

Flexible link size 500 × 30 × 1.5
Mass of link 0.175 kg
Mass of clamp 0.150 kg
Distance of cable attachment from shaft axis 70 mm
Mass of payload 0.18 kg, 0.12 kg, 0.06 kg
Density of link 7800 kg/m3
Diameter of cable 0.8 mm
Number of cables 1 pair and 2 pairs
Cable material density 7800 kg/m3
Target rotation 45 deg.
Time duration 1 sec