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From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism
Mechanism and Machine Theory, 2017 International audienceCable-driven tensegrity mechanisms are now considered for various applications in which their reconfiguration capacities are required together with their inherent lightness.
Quentin Boehler +2 more
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A Cable-Driven Parallel Mechanism for the Interaction with Hemispherical Surfaces
2012In this paper, a device based upon a specific cable-driven parallel mechanism to interact with hemispherical surfaces is proposed and investigated. This device could be of use in, for example, the automated cleaning of glass domes. Because the cables move on the hemispherical surface, they are curved.
Voss, K.H.J. +2 more
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On the determination of the force distribution in overconstrained cable-driven parallel mechanisms
Meccanica, 2010zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Gosselin, Clément, Grenier, Martin
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On the determination of cable characteristics for large dimension cable-driven parallel mechanisms
2010 IEEE International Conference on Robotics and Automation, 2010Generally, the cables of a parallel cable-driven robot are considered to be massless and inextensible. These two characteristics cannot be neglected anymore for large dimension mechanisms in order to obtain good positioning accuracy. A well-known model which describes the profile of a cable under the action of its own weight allows us to take mass and ...
Riehl, Nicolas +3 more
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A Cable-Driven Grasping Mechanism With Lock/Unlock Constraints
Volume 6A: 37th Mechanisms and Robotics Conference, 2013The application of manipulators is becoming more and more popular in object handling especially when it is desired to have access to remote areas in destructive or hazardous taskspaces. For this purpose, a hand-like mechanism must be designed to be used as an end-effector, which can grasp objects.
Soroush Abyaneh +2 more
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Design and Analysis of a Cable-Driven Deployable Cylindrical Mechanism
Volume 5B: 42nd Mechanisms and Robotics Conference, 2018This paper presents the design of a deployable cylindrical mechanism which is driven by cable. The deployable mechanism can be deployed to approximate a cylindrical surface and be folded into a compact bundle. Construction of the cylindrical surfaces with Bennett linkages is introduced. Geometric shape of the connecting bars and structure of the joints
Hang Xiao, Shengnan Lu, Xilun Ding
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A Hybrid Self-Stressed Cable-Driven Mechanism
Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 2008A new hybrid cable-driven manipulator is introduced. The manipulator is composed of a Cartesian mechanism to provide three translational degrees of freedom and a cable system to drive the mechanism. The end-effector is driven by three rotational motors through the cables.
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Wrench Capability Analysis of Cable-Driven Parallel Mechanisms
Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 2011The maximum wrench capabilities of the cable-driven parallel mechanisms are investigated in this paper. Focusing on accuracy and efficiency, two methods, an optimization-based method and a hybrid method based on optimization and geometry, are presented for determining the wrench capability of the cable-driven parallel mechanisms.
Yu Zou, Yuru Zhang
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Cable-Driven Parallel Mechanisms: Application to a Locomotion Interface
Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 2007Over the last decade, cable-driven parallel mechanisms have been used for several purposes. In this paper, a novel application is proposed, namely, using two 6-DOF cable-driven parallel mechanisms sharing a common workspace to obtain the mechanical base for the design of a locomotion interface.
Simon Perreault, Clément M. Gosselin
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A PLANAR CLOSED-LOOP CABLE-DRIVEN PARALLEL MECHANISM
Transactions of the Canadian Society for Mechanical Engineering, 2009A novel architecture of planar closed-loop cable-driven parallel mechanism is introduced in this paper. In this architecture, instead of being wound on spools, the cables form closed loops attached to the end-effector and whose motion is controlled by sliders.
Hanwei Liu, Clément Gosselin
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