Since pulleys roll freely ... This marvelous property gives way to a mechanism called a capstan drive, a cable wrapped around a small shaft that can be used as an actuator.

It’s pretty useless without some sort of control mechanism to keep all ... For that job I’ve embedded two cable clamps into the top of the pulley. Next, this pulley needs to screw down into ...

Cable-driven parallel robots (CDPRs ... particularly considering the complexities introduced by pulley mechanisms. A recent study established a comprehensive kinematic model that accounts for ...