Classifying the Boundaries of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms by Visual Inspection [PDF]
IEEE Transactions on Robotics, 2012 The mobile platform of a parallel cable-driven mechanism is connected in parallel to a base by lightweight links, such as cables. Since the cables can only work in tension, the set of poses of the mobile platform for which the cables can balance any external wrench, i.e., for which the platform of the mechanism is fully constrained, is often limited or
K. Azizian, P. Cardou, Brian Moore
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A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms
Machines, 2023 Force–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque sensors can be conceived by using many types of connections or components; however, there are only a few sensors designed
Giovanni Gerardo Muscolo, Paolo Fiorini
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Xstrings: 3D Printing Cable-Driven Mechanism for Actuation, Deformation, and Manipulation
Proceedings of the 2025 CHI Conference on Human Factors in Computing SystemsIn this paper, we present Xstrings, a method for designing and fabricating 3D printed objects with integrated cable-driven mechanisms that can be printed in one go without the need for manual assembly.
Jiaji Li +6 more
semanticscholar +3 more sources
Pneumatic–Cable-Hybrid-Driven Multi-Mechanism End Effector and Cross-Surface Validation [PDF]
BiomimeticsWall-climbing robots are increasingly required for applications in aerospace, high-altitude operations, and complex environmental monitoring, where they must maintain reliable adhesion and continuous mobility across surfaces with rapidly changing ...
Zhongyuan Wang +5 more
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Overview of Monitoring, Diagnostics, Aging Analysis, and Maintenance Strategies in High-Voltage AC/DC XLPE Cable Systems [PDF]
SensorsHigh-voltage (HV) cable systems—particularly those insulated with cross-linked polyethylene (XLPE)—are increasingly deployed in both AC and DC applications due to their excellent electrical and mechanical performance. However, their long-term reliability
Kazem Emdadi +4 more
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Advanced Intelligent SystemsSoft robots have garnered significant attention due to their adeptness in addressing challenges that traditional rigid robots struggle to effectively manage, including adaptability to unstructured environments and safe human–robot interactions.
Ji Wang +8 more
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Cable-Driven Mechanism Models for Sensitive and Actuated Minimally Invasive Robotic Instruments
Applied SciencesCable-driven mechanism models are, usually, included in actuated systems; however, recently, their use for sensitive systems has been explored. In this paper, two cable-driven multi-body mechanism models are compared, underlining advantages and ...
Giovanni Gerardo Muscolo, Paolo Fiorini
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Study on optimization of surrounding rock support in the predriven roadway during final mining of an extra thick coal seam [PDF]
Scientific ReportsTo address the challenges of surrounding rock control in pre-driven roadways during the final mining stage of extra-thick coal seams, this study focuses on the 13,104 working face at Ciyaogou Coal Mine as a research background.
Shuaifeng Yin +4 more
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Robotic transesophageal echocardiography: system design and deep learning-based kinematic modeling [PDF]
Frontiers in Robotics and AIIntroductionThis paper presents a robotic transesophageal echocardiography (TEE) system that replicates all essential degrees of freedom available in manual TEE procedures.
Seyed MohammadReza Sajadi +6 more
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ActuatorsRigid robots have found wide-ranging applications in manufacturing automation, owing to their high loading capacity, high speed, and high precision. Nevertheless, these robots typically feature joint-based drive mechanisms, possessing limited degrees of ...
Haotian Bai +11 more
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