Results 261 to 270 of about 7,703 (290)

Design and Modeling of a 2-DOF Cable-Driven Parallel Wrist Mechanism

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019
This 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, Cai Xiao, Jian Li 0057, Yu Zhong, Tao Zhang 0064, Yisheng Guan   +5 more
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

Control of an Overactuated Cable-Driven Parallel Mechanism for a Radio Telescope Application

IEEE Transactions on Control Systems Technology, 2009
The 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, Benoit Boulet, Meyer Nahon   +2 more
openaire   +1 more source

Design and Evaluation of a Parallel Cable-Driven Shoulder Mechanism With Series Springs

Journal of Mechanisms and Robotics, 2021
Abstract Upper limb paralysis and movement disorders resulting from neurologic injuries can be treated with an upper limb exoskeleton robot that assists with movement retraining. Cable-driven exoskeletons have been widely studied because of their lightness, compact structure, and low cost.
Pengpeng Xu, Juncheng Li, Shuoyu Li, Dan Xia, Ziniu Zeng, Nachuan Yang, Longhan Xie   +6 more
openaire   +1 more source

Kinematic Sensitivity of a Very Large Cable-Driven Parallel Mechanism

Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B, 2006
The LAR is a concept of a large orientable radiotelescope composed namely of a cable-driven parallel mechanism used to position and orient a feed plate. This document presents a first analysis of this mechanism’s orientation capability. The rotational kinematic sensitivity is defined here as the possible change in orientation occuring under a change in
Samuel Bouchard, Cle´ment M. Gosselin
openaire   +1 more source

Force-closure workspace analysis of cable-driven parallel mechanisms

Mechanism and Machine Theory, 2006
A cable-driven parallel mechanism (CDPM) possesses a number of promising advantages over the conventional rigid-link mechanisms, such as a simple and light-weight mechanical structure, a high-loading capacity, and a large reachable work space. However, the formulations and results obtained for the rigid-link mechanism cannot be directly applied to ...
Pham, Cong Bang, Yeo, Song Huat, Yang, Guilin, Kurbanhusen, Mustafa Shabbir, Chen, I-Ming   +4 more
openaire   +1 more source

Determination of the Dynamic Workspace of Cable-Driven Planar Parallel Mechanisms

Journal of Mechanical Design, 2005
In this paper, we present a general and systematic analysis of cable-driven planar parallel mechanisms. The equations for the velocities are derived, and the forces in the cables are obtained by the principle of virtual work. Then, a detailed analysis of the workspace is performed and an analytical method for the determination of the boundaries of an x-
Guillaume Barrette, Cle´ment M. Gosselin   +1 more
openaire   +1 more source

Input-output force transmission characteristics for the 3T1R cable-driven parallel mechanism

2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2017
In this work, the ∞-norm based input-output force transmission (IOFT) characteristic of a 3T1R type cable-driven parallel mechanism (CDPM) with five cables is analyzed. It is confirmed from simulation results that the proposed CDPM has adequate characteristics for haptic applications.
Tae Woo Hong, Byung-Ju Yi, Whee Kuk Kim
openaire   +1 more source

Optimal Design of a Cable-Driven Parallel Mechanism for Lunar Takeoff Simulation

2017
The technology of taking off from the lunar is of great importance for the returning of spacecraft from lunar. To verify the stability of spacecraft when taking off lunar, the force state of the spacecraft needs to be simulated accurately. Traditional simulation mechanisms are unable to meet the simulation requirements of lunar takeoff.
Yu Zheng, Wangmin Yi, Fanwei Meng
openaire   +1 more source

Analysis on Metamorphic of the Cable-Driven Parallel Mechanism in Wind Tunnel Test

Applied Mechanics and Materials, 2013
The workspace is limited in the fixed parameters of cable-driven parallel mechanism and interference often happens between cables and surfaces of actuator. The fundamental basis of metamorphic mechanisms is addressed in accordance with the design, kinematics and dynamics, as well as the compliant metamorphic mechanisms.
Qing Lin Chen, Qi Lin
openaire   +1 more source