Journal of Marine Science and Engineering, 2023 This paper proposes a novel motion-tracking control methodology for an underwater cable-driven parallel mechanism (CDPM) that achieves calculation of dynamic tension constraint values, tension planning, parameter linearization, and motion tracking.
Jiafeng Zhao +5 more
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Design and Analysis of a Hemispherical Parallel Mechanism for Forearm–Wrist Rehabilitation
Applied Bionics and Biomechanics, 2023 This paper presents a bionic cable-driven mechanism to simulate the motion of human wrist which is suitable for human forearm–wrist rehabilitation. It fulfills workspace of the human forearm–wrist and it can train the joint in active and passive.
Shuang Li +4 more
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Solution of inverse geometrico-static problem (IGP) for suspended rigid-flexible coupling parallel mechanism (RFCPM) driven by elastic thin rods [PDF]
Mechanical SciencesRigid-flexible coupling is the development trend of lightweight parallel mechanisms. Different from traditional rigid parallel mechanisms, although the flexible components are light in weight, the large elastic deformation generated by the mechanism will
J. Chen +6 more
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Investigating the Effect of Cable Force on Winch Winding Accuracy for Cable-Driven Parallel Robots
, 2022 S.315-323This paper focuses on the winch winding properties of typical driving mechanisms of cable-driven parallel robots. While cable properties have already been studied, the accuracy of winding mechanisms to control cable robots and the interaction ...
Pott, Andreas +2 more
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Mechanical Analysis of a 3-DOF Under-constrained Parallel Robot with Variable Cable Mast Heights
Jixie chuandong, 2023 The cable-driven parallel robot is a special flexible mechanism in parallel mechanism, the end-effector of which is driven by cables instead of rigid rods. It integrates the advantages of flexible robots and parallel robots.
Zhao Tao +5 more
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Design and Performance of an Elbow Assisting Mechanism
Machines, 2020 An elbow assisting device is presented as based on a cable-driven parallel mechanism with design solutions that are improvements from a previous original design.
Giacomo Zuccon +3 more
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An Inverse Kinematic Code for Cable-Driven Parallel Robots Considering Cable Sagging and Pulleys
, 2020 S.423-431A key advantage of cable-driven parallel robots, compared to other robot types, is their large workspace. Despite this fact, experiments in previous works have shown that cable-driven parallel robots often cannot fully realize their ...
Marc Fabritius +3 more
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Dynamic Modeling and Error Analysis of a Cable-Linkage Serial-Parallel Palletizing Robot
IEEE Access, 2021 The efficiency and accuracy for parallel robot play a significant role in the industrial production process. In order to further improve the motion performance of parallel robot, this paper focuses on the study of mechanism design, dynamic modeling and ...
Huihui Sun, Yujie Zhang, Bin Xie, Bin Zi
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Hybrid position/force control of a cable-driven parallel robot with experimental evaluation
, 2022 S.553-561For cable-driven parallel robots elastic cables are used to manipulate the end-effector in the workspace. !n this paper we present a hybrid position/force control which allows - for applying defined forces on the environment and simultaneous ...
Pott, Andreas +3 more
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Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot
Shock and Vibration, 2017 The paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement.
Leijie Jiang, Bingtuan Gao, Zhenyu Zhu
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