Performance Evaluation of Cable-Driven Wrench Applicators: Geometric and Experimental Analysis
Abstract
Cable-driven wrench applicators (CDWAs) are parallel robotic systems that apply controlled wrenches to the robot end-effector through cable actuation. The presented study introduces a framework for the performance evaluation of CDWAs based on dedicated metrics. It focuses on the geometric analysis of n-cable CDWAs controlling n−2 wrench components and on the experimental comparison of a 4-cable architecture with an 8-cable CDWA. The geometric analysis reveals intrinsic properties of the 4-cable system’s tension distribution and inherent limits in achieving specific control objectives. Both simulations and experimental validation demonstrate that the 4-cable CDWA attains comparable performance in wrench control while requiring higher tensions, yet offers greater ease of use and mechanical simplicity.
Fields of Study & Subjects
Soft Robotics and Applications
Vibration and Dynamic Analysis
Robotic Mechanisms and Dynamics
Publication details
- Journal / source
- Robotics
- Publisher
- MDPI AG
- Volume
- 15
- Issue
- 2
- Pages
- 36–36
- Publication date
- 2 February 2026
- Language
- EN