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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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The Dimensional Synthesis of Spatial Cable-Driven Parallel Mechanisms
Journal of Mechanisms and Robotics, 2013This paper presents a method for the dimensional synthesis of fully constrained spatial cable-driven parallel mechanisms (CDPMs), namely, the problem of finding a geometry whose wrench-closure workspace (WCW) contains a prescribed workspace. The proposed method is an extension to spatial CDPMs of a synthesis method previously published by the authors ...
K. Azizian, P. Cardou
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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 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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Workspace Analysis of a Hybrid-Driven Cable Parallel Mechanism
Applied Mechanics and Materials, 2011 This paper presents a new-type hybrid-driven cable parallel mechanism, which combines hybrid-driven mechanism with cable parallel mechanism, and the mechanism can not only operate with high speed, high accuracy, and high payload, but also have high ...
Jian Bin Cao, Zi Bin
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Dynamic Analysis on Flexible Cable-Driven Parallel Mechanism
Advanced Materials Research, 2014The 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
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Mechanism Design and Analysis for an Automatical Reconfiguration Cable-Driven Parallel Robot
2017 2nd International Conference on Cybernetics, Robotics and Control (CRC), 2017An automatical reconfiguration cable-driven parallel robot (ARCPR) is optimally designed on the basis of conventional cable-driven parallel robots, and it can realize the change of degrees of freedom (DOFs) from two to six. The 3D model for the ARCPR is built, and then the kinematics characteristics of the rotating guide-bar mechanism is analyzed.
Tiantian Chen +3 more
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Cable-Driven Constrained Traversal Mechanism for Planar Motion
2018In this paper a simple model of mobile traversal mechanism suspended by cables and actuated by motors is presented. A detailed description of the workspace on which the payload is traversed is discussed. The mechanism is actuated by cables which are driven by motors.
Shreehari, B Datta +3 more
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Modelling of cable wrapping phenomenon towards improved cable-driven mechanisms
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013Traditional parallel driven cable robots relied on the fact that the cables connecting the fixed frame and the moving platform remain straight and taut under tension during operation. Most studies implicitly or explicitly modelled the cables as straight lines.
Man Cheong Lei, Denny Oetomo
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Design and Modeling of a 2-DOF Cable-Driven Parallel Wrist Mechanism
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019This paper proposes a novel design of 2-DOF Cable- Driven Parallel Wrist Mechanism (CDPWM). This mechanism can achieve hemispherical movement in space which has a unconventional twin actuation. The configuration has a great flexibility (with no singular points within the entire motion range), and a large stiffness of 1.07 × 106 Nmm/rad.
Hao Jiang 0013 +5 more
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