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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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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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A Novel Variable Stiffness Actuator Based on Cable-Pulley-Driven Mechanisms for Robotics
IEEE/ASME transactions on mechatronicsVariable stiffness actuator (VSA) is an effective actuation approach to increase safety in physical human-robot interaction. This acticle proposes a novel compact variable stiffness actuator (CVSA) that can regulate stiffness by changing the preload of ...
Zhisen Li, Peng Xu, Bing Li
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Journal of Mechanisms and Robotics
This paper investigates decoupled motion control and dimension optimization of composite notched continuum mechanisms. In general, the end-effectors of endoscopic surgical robots predominantly consist of rigid articulated actuators, which exhibit ...
Zhengyu Wang +4 more
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This paper investigates decoupled motion control and dimension optimization of composite notched continuum mechanisms. In general, the end-effectors of endoscopic surgical robots predominantly consist of rigid articulated actuators, which exhibit ...
Zhengyu Wang +4 more
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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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A hybrid vibration suppression strategy for redundant cable-driven parallel mechanisms
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering ScienceSuppressing the vibration of cable-driven parallel mechanisms (CDPMs) is of great significance for improving their performance such as positioning accuracy.
Jin Yu +4 more
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Control of an Overactuated Cable-Driven Parallel Mechanism for a Radio Telescope Application
IEEE Transactions on Control Systems Technology, 2009The large adaptive reflector is a Canadian design concept for a new type of large-scale radio telescope. This new telescope would be composed of a reflector made of individually actuated panels and a multitethered feed platform held aloft by an aerostat. This paper focuses on the position and orientation control of the feed platform. Models of both the
Gabriel Meunier +2 more
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Design and Analysis of a Cable-Driven Flexible Finger Based On Continuum Mechanism
2018 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2018Continuum manipulators have attracted lots of interests in the past few years, due to their super flexibility and dexterity. In this paper, a cable-driven flexible finger is designed and analyzed based on continuum mechanism. Compared with traditional rigid-link fingers, the proposed flexible finger shows excellent compliance and adaptivity. Mathematic
Xinjie Chen, Han Yuan, Wenfu Xu
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A Review on Design, Modeling and Control Technology of Cable-Driven Parallel Robots
RoboticsIn view of the limitations of traditional rigid joint robots, cable-driven parallel robots (CDPRs) have shown significant advantages such as wide working space and high payload-to-weight ratio by replacing rigid connectors with flexible cables. Therefore,
Runze Wang, Jinrun Li, Yangmin Li
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Decoupling Design and Fast Kinematics Resolving Method for Cable-Driven Segmented Manipulator
IEEE Transactions on Systems, Man, and Cybernetics: SystemsA cable-driven segmented manipulator (CDSM) has considerable potential in narrow space operations because it has a slender and light body with flexible mobility. However, the existing CDSM segment driving mechanisms are coupled to each other. The driving
Taiwei Yang +4 more
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