Date of Award

January 2015

Degree Type


Degree Name

Doctor of Philosophy (PhD)


Mechanical Engineering

First Advisor

Bin Yao

Committee Member 1

Daniel DeLaurentis

Committee Member 2

Peter H Meckl

Committee Member 3

George TC Chiu


Cable-actuated systems provide an effective method for precise motion transmission over various distances in many robotic systems. In general, the use of cables has many potential advantages such as high-speed manipulation, larger payloads, larger range of motion, access to remote locations and applications in hazardous environments. However, cable flexibility inevitably causes vibrations and poses a concern in high-bandwidth, high-precision applications.