Cable-driven parallel robotics is a cost-effective and versatile solution to this problem. These robots can be automated or manually controlled, and precisely position any type of tool or even another anthropomorphic robot in large workspaces. Using only cables, these systems bear external loads effi...
A planar cable-direct-driven robot (CDDR) architecture is introduced with only translational freedoms. The motivation behind this work is to improve the serious cable interference problem with existing CDDRs and to avoid configurations where negative cable tensions are required to exert general forces...
Pham CB, Yeo SH, Yang G, Chen I-M (2009) Workspace analysis of fully restrained cable-driven manipulators. Robot Auton Syst 57:901–912 Article Google Scholar Pott A, Bruckmann T, Mikelsons L (2009) Closed-form force distribution for parallel wire robots. In: Computational kinematics: ...
A cable-driven parallel robot (CDPR) is a special type of parallel robot where cables replace rigid links. Alternatively, a CDPR can be viewed as a dexterous lifting machine that uses several cables to avoid, at least partially, a sway of the payload. CDPRs generally consist of a supporting...
robot kinematicsrobot dynamicsLagrange equations/ C3390 Robotics C1110 Algebra E2230 Robot and manipulator mechanics E0210A AlgebraIn this paper, we introduce a new method and new motion variables to study kinematics and dynamics of a 6 d.o.f cabledriven robot. Using these new variables and ...
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 structure itself can be used to hold the pulleys of the CDPR and the moving-platform would therefore need to go out of the robot volume to reach it. To overcome this issue a grasping device is mounted onto the moving-platform to grab the structure. It should be noted that when the...
A cable-string driven robot was designed to move a camera with six degrees of freedom. Its motion is controlled by a human operator with a joystick. The intended purpose is to follow an object moving on a surface below the camera. Motion is controlled with the length of the strings, which...
Gosselin, "Large-scale 3d printing with a cable- suspended robot," Additive Manufacturing, vol. 7, pp. 27-44, 2015.J B Izard, A Dubor, P E Herve, et al. Large-scale 3D printing with cable- driven parallel robots. Construction Robotics, 2017, 1(1-4): 69-76....
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.: ...