Results 1 to 10 of about 7,703 (290)
Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms [PDF]
IEEE Transactions on Robotics, 2006 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
Clement Gosselin
exaly +8 more sources
Cable interference control in physical interaction for cable-driven parallel mechanisms [PDF]
Mechanism and Machine Theory, 2019 Abstract Cable interferences and collisions can lead to unpredictable behavior when a human physically interacts with a cable-driven parallel mechanism through its mobile platform. This paper presents an interactive control approach to prevent two cables in interference from folding onto one another, and thus preserve the cable-mechanism geometry. In
Philippe Cardou, Martin J -D Otis
exaly +4 more sources
Kinematic analysis of cable-driven parallel mechanisms based on minimum potential energy principle
Advances in Mechanical Engineering, 2015 The forward kinematic analysis of the cable-driven parallel mechanism has been a challenging and interesting problem since 10 years ago. This work converts the forward kinematic analysis problem of the cable-driven parallel mechanism to an optimization ...
Guan Liwen, Xu Huayang, Liu Zhihua
doaj +3 more sources
A review on topological architecture and design methods of cable-driven mechanism [PDF]
Advances in Mechanical Engineering, 2018 Research on the cable-driven mechanism has greatly developed with the booming of the robots in the past 30 years, and a range of corresponding theoretical studies have been published on them.
Huajie Hong, Jabran Ali, Lei Ren
doaj +3 more sources
A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications [PDF]
Mathematics, 2021 A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM).
Luis Nagua +3 more
doaj +4 more sources
Machines, 2023 In this paper, a spatial cable-driven parallel mechanism in a V-shaped cable arrangement is proposed. It is further simplified as a planar hybrid cable-driven parallel mechanism to analyze its kinematics, which consists of two identical active cable ...
Li Wu +4 more
doaj +2 more sources
Machines, 2023 The accuracy of the end-effector motion trajectory is a critical performance indicator for cable-driven parallel mechanisms. This study aims to address the problem of trajectory error during the end-effector motion in a cable-driven parallel mechanism ...
Yanglong Li +4 more
doaj +3 more sources
Advances in Mechanical Engineering, 2017 A real-time forward kinematics method was proposed in this article and was used for a suspended cable-driven parallel mechanism with 6 degree-of-freedom wave compensation.
Wei Lv, Limin Tao, Yongpan Hu
doaj +2 more sources
Towards Clinical Trial Readiness: Optimization of a Parallel Robot for Lower Limb Rehabilitation [PDF]
BioengineeringThis study presents the clinical trial readiness and optimization of a parallel robotic system developed for early-stage lower limb rehabilitation of bedridden patients using feedback from healthy users and clinicians.
Paul Tucan +8 more
doaj +2 more sources
Robotics, 2023 The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot.
Julio Vargas-Riaño +2 more
doaj +1 more source