A cable-driven device, such as a joint or instrument of a computer-assisted manipulator system, may comprise a capstan mechanism to wind/unwind cables. The capstan mechanism comprises a capstan that has a groove in an outer surface of the capstan to guide the cables, which are routed from a take-up pulley, to spool onto the capstan as the capstan rotates. A guide element is engaged with the groove. The guide element is held translationally stationary relative to the take-up pulley, while there is relative translation between the capstan and both the guide element and the take-up pulley. Thus, as the capstan rotates, the guide element engages with the groove and forces the capstan and the take-up pulley to translate relative to one another. This relative translation of the capstan and the take-up pulley may prevent deviation of a take-up angle of the cable as the cable spools onto the capstan.


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    Titel :

    DEVICES, SYSTEMS AND METHODS FOR CONTROLLING CABLE DRIVE MECHANISMS


    Weitere Titelangaben:

    VORRICHTUNGEN, SYSTEME UND VERFAHREN ZUR STEUERUNG VON KABELANTRIEBSMECHANISMEN
    DISPOSITIFS, SYSTÈMES ET PROCÉDÉS DE COMMANDE DE MÉCANISMES À COMMANDE PAR CÂBLE



    Erscheinungsdatum :

    2024-01-17


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B66D Haspeln , CAPSTANS / A61B DIAGNOSIS , Diagnostik / B25J Manipulatoren , MANIPULATORS



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