Results 261 to 270 of about 145,123 (305)

Workspace Analysis of Multibody Cable-Driven Mechanisms

Journal of Mechanisms and Robotics, 2011
A systematic approach is proposed to determine the tensionable workspace of multibody cable-driven mechanisms. The method is also capable of finding analytical descriptions for the boundaries of the tensionable regions for any number of redundant cables used.
Siavash Rezazadeh, Saeed Behzadipour
openaire   +1 more source

Wrench-Feasible Workspace of Parallel Cable-Driven Mechanisms

Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
The wrench-feasible workspace (WFW) of a parallel cable-driven mechanism is the set of poses of its mobile platform for which the cables can balance any wrench in a specifed set of wrenches, such that the tension in each cable remains within a prescribed range. The WFW is fundamental since it takes into account both the requirement of nonnegative cable
Gouttefarde, Marc, Merlet, Jean-Pierre, Daney, David   +2 more
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A PLANAR CLOSED-LOOP CABLE-DRIVEN PARALLEL MECHANISM

Transactions of the Canadian Society for Mechanical Engineering, 2009
A 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
openaire   +1 more source

Wrench Capability Analysis of Cable-Driven Parallel Mechanisms

Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 2011
The 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
openaire   +1 more source

Dynamic Analysis on Flexible Cable-Driven Parallel Mechanism

Advanced Materials Research, 2014
The interference between cables and surface of acutator limits the movement in the cable-driven parallel mechanism. The mechanism with fixed hinge can’t absolutely avoid the interference point of the track when using linear programming method. One new method, named as distant interference, was proposed to pick out all the interferential points of the ...
Qing Lin Chen, Qi Lin
openaire   +1 more source

Task-based design of cable-driven articulated mechanisms

Proceedings of the 1st Annual ACM Symposium on Computational Fabrication, 2017
We present a framework for the automatic design of articulated cable-driven mechanisms performing push andpick-and-place tasks. Provided an initial topology and task specification, our system optimizes the morphology and cable mechanisms such that the resulting mechanism can perform the desired task successfully.
Jian Li, Sheldon Andrews, Krisztian G. Birkas, Paul G. Kry   +3 more
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A Cable-Driven Grasping Mechanism With Lock/Unlock Constraints

Volume 6A: 37th Mechanisms and Robotics Conference, 2013
The 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, Omid Saber, Hassan Zohoor   +2 more
openaire   +1 more source

Workspace Analysis of a Three DOF Cable-Driven Mechanism

Journal of Mechanisms and Robotics, 2009
A cable-driven mechanism based on the idea of BetaBot (2005, “A New Cable-Based Parallel Robot With Three Degrees of Freedom,” Multibody Syst. Dyn., 13, pp. 371–383) is analyzed and geometrical description of its workspace boundary is found. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with ...
Alireza Alikhani, Saeed Behzadipour, S. Ali Sadough Vanini, Aria Alasty   +3 more
openaire   +1 more source

A Hybrid Self-Stressed Cable-Driven Mechanism

Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 2008
A 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.
openaire   +1 more source

A cable-driven distal end-effector mechanism for single-port robotic surgery

International Journal of Computer Assisted Radiology and Surgery, 2021
The development of surgery is to be minimally invasive and collaborative with robot systems, which has caught increasing attention in recent years. However, the narrow access routes and confined working spaces in vivo usually make distal end-effectors of surgical systems not easy to operate.
Yizhao Wang, Qixin Cao, Xiaoxiao Zhu, Pengfei Wang   +3 more
openaire   +2 more sources