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Cable-Driven Parallel Robots

, 2022
International audienceA Cable-Driven Parallel Robot (CDPR) is a special type of parallel robot where cables replace rigid links. Alternatively, a CDPR can be viewed as a dexterous lifting machine which uses several cables to avoid, at least partially, a ...
Marc Gouttefarde, Tobias Bruckmann
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Intuitive Bilateral Teleoperation of a Cable-driven Parallel Robot Controlled by a Cable-driven Parallel Robot

International Journal of Control, Automation and Systems, 2020
Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a CDPR, in which a remote CDPR is teleoperated by a ...
Hongseok Choi, Jinlong Piao, Eui-Sun Kim, Jinwoo Jung, Eunpyo Choi, Jong-Oh Park, Chang-Sei Kim   +6 more
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On the forward kinematics of cable-driven parallel robots

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
Most cable-driven parallel robots are kinematically over-constrained mechanisms. This results in a non-trivial computation of the forward kinematic transformation. It is well known that the forward kinematics of parallel robots may have multiple solutions and in general the convergence of numerical methods is unknown.
Andreas Pott, Valentin Schmidt
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Energy efficiency of cable-driven parallel robots

2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
Cable-driven parallel robots, hereinafter referred to as cable robots, use cables to manipulate a mobile platform with 6 DOF. Cable robots have a low moved mass, as the winches with the servo drives are fixed to the machine frame and light weight synthetic fiber cables can be used.
Werner Kraus, Alexander Spiller, Andreas Pott   +2 more
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A cable driven parallel robot for coconut farm

2017 International Conference on Advances in Computing, Communications and Informatics (ICACCI), 2017
This paper presents a cable driven parallel robot for automating the process of coconut dehusking in large and medium sized farms. The robot assists the mechanized dehusking process by performing the activity of fetching coconuts from a heap and autonomously loading them into a dehusking machine's hopper.
Thejas Narayanan, Rajendran S. Vishnu, Rao R. Bhavani, Vineet Vashista   +3 more
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Control of cable-driven parallel robot for gait rehabilitation

2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2015
We report the control and simulation of a planar cable-driven parallel robot with four cables. The application of the robot is to fully control the lower limb, shank, for gait rehabilitation. The main challenge in control of the cable-driven parallel robot is to avoid negative cable tensions during dynamic motions.
Soheil Gharatappeh, Ghasem Abbasnejad, Jungwon Yoon 0001, Hosu Lee   +3 more
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Stability Analysis of Underconstrained Cable-Driven Parallel Robots

IEEE Transactions on Robotics, 2013
no ...
CARRICATO, MARCO, Merlet J. P.
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Load identification and compensation for a Cable-Driven parallel robot

2013 IEEE International Conference on Robotics and Automation, 2013
In Cable-Driven parallel robots, elastic cables are used to control the movement of a platform in the workspace. The accuracy of a robot system is one of the most important comparison criteria for various applications. In this paper, we present a new approach to increase the relative accuracy of a cable robot under changing payload, by compensating the
Werner Kraus, Valentin Schmidt, Puneeth Rajendra, Andreas Pott   +3 more
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On the Redundancy of Cable-Driven Parallel Robots

2014
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Singularity Analysis of Planar Cable-Driven Parallel Robots

2008 IEEE Conference on Robotics, Automation and Mechatronics, 2008
It is well known that parallel robots may have singular configurations that can result in a loss of full control the mechanisms. This paper analyzes two different categories of singularities of planar cable-driven parallel robots with four or more cables.
Xiumin Diao, Ou Ma, Qi Lu
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