lel links and to use winches as the ac- tuators. ... in all six degrees of freedom (x, y, z, roll, pitch, and yaw). ... prototypes to determine the performance charac- ... When all six cables are in tension, the stable ... c) Gandy Bridge Crane (with extended reach). Fig. ..... Inst. Mechanical Eng. Part I, 180 (15), 371-386 (1965-. 1966).
