The continuous redundant prototype robot is composed by 2 segments with 7 modules sections powered by 6 driven cables where each segment is controlled with 3 lineal motors. The length of the segment is desired but it is also allows to add modular sections and connect them like serial chain. ...
We demonstrate that our framework could control a cable driven soft continuum robot with four tendons per section. Compared with the Double Deep Q-learning Network (DDQN) controller, the proposed controller increased the convergence speed by more than 11-fold, and reduced the positioning error by ...
Continuous robots are inspired by continuous structures found in natural organisms, such as the tentacles of an octopus, the body of a snake and the trunk of an elephant. The CDCR is driven by adjusting the cable length, enabling it to work in special environments owing to their deformable ...
Periodic continuous lineGantry robots and anthropomorphic arms of various sizes have already been studied and, while they are in use in some parts of the world for automated construction, a new kind of wide workspace machinery, cable-driven parallel robots (CDPR), has emerged. These robots are ...
ideal lines between themto simulate continuous cable, but it leads to a systemwith partial differential equations. In addition, the accuracy of finite element method depends onthe number of elements. Toensure a goodaccuracy will result in further computational ...
Examples of CDPR applications: (a) NIST RoboCrane [33], (b) FALCON ultrahigh speed robot [34], (c) SkyCam video recorder system [35], (d) Sophia-3 string-operated planar haptic interface for arm rehabilitation [7], (e) FAST large-scale radio spherical telescope [36], (f) Arecibo la...
Such a Reconfigurable Cable-Driven Parallel Robot (RCDPR) has a continuous set of possible configurations. On the contrary, the set of possible reconfigurations is discrete when the cable exit points can be positioned at a possibly large but finite number of locations, such as those of a grid...
the robots need to complete rehabilitation training on a safe basis. This paper presents an approach for smooth trajectory planning for a cable-driven parallel waist rehabilitation robot (CDPWRR) based on the rehabilitation evaluation factors. First, motion capture technology is used to collect the ...
Robot. 22, 890–902 (2006) Article Google Scholar Gouttefarde, M., Gosselin, C.M.: Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms. IEEE Trans. Robot. 22(3), 434–445 (2006) Article Google Scholar Williams, R.L., Gallina, P., Vadia, J.: ...
Research on workspace visual-based continuous switching sliding mode control for cable-driven parallel robots. Robotica, 2023, 42(1): 1-20. Article MathSciNet Google Scholar B. Zi, B. Y. Duan, J. L. Du, et al. Dynamic modeling and active control of a cable-suspended parallel robot. ...