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

<table>Resultant force curves of the joints of the HDPM for Case <a href="https://static.hindawi.com/articles/mpe/volume-2013/914653/figures/#casee2">2</a>.</table>

Mathematical Problems in Engineering

fig22

Figure 22

Figure 22: Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator 