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 ...
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 ...
Cable-driven parallel robots (CDPRs) are a subclass of parallel manipulators, wherein cables are used instead of rods as used as the robot legs. CDPRs exhibit large workspace, low inertia, high speed, compactness, and a high carrying capacity [1]. Consequently, they have been receiving incre...
12.A cable-driven parallel robot, comprising:the platform as claimed in claim 1;a plurality of cables extending between a point of anchorage on the platform and an anchorage connected to a structure which is fixed in space;a motor assembly in order to carry out the winding or unwinding of ...
changes of the length of cables are continuous when the robot moves along the planned trajectory,which ensures the smooth and continuous movement of the robot during the whole operation,and the accuracy of positioning and the workspace of the cable-driven robot can also satisfy the task ...
A survey on actuators-driven surgical robots Huu Minh Le, ... Soo Jay Phee, in Sensors and Actuators A: Physical, 2016 Abstract Robot-assisted surgeries have been integrated and leading to a paradigm shift in surgical fields. With the emergence of Minimally Invasive Surgery (MIS), especially ...
A two-axis cable-driven ankle-foot mechanism. Robot. Biomim. 1, 17 (2014). https://doi.org/10.1186/s40638-014-0017-0 Download citation Received26 August 2014 Accepted15 October 2014 Published02 November 2014 DOIhttps://doi.org/10.1186/s40638-014-0017-0 Share this article Anyone you ...
with another wheel of the driving trolley (1) through the transmission chain (6); and the wheels of the driving trolley (1) and the driven trolley (2) are all provided with V-shaped grooves, and the outer surfaces of the V-shaped grooves are processed into rugged continuous arcs (16)....
In addition, the skeleton of most rope-driven continuous robot has a large rebound ability in order to ensure the stiffness. To avoid excessive internal forces, it is necessary to follow the goal of minimizing the degree of curvature of each joint. In the future, following optimizations to ...