Results 11 to 20 of about 2,491 (302)
An approach on stability analysis of cable-driven parallel robots considering cable mass
AIP Advances, 2021 This paper presents an approach on stability analysis of cable-driven parallel robots (CDPRs) considering cable mass based on cable tensions and stiffness matrix condition numbers. A cable model is introduced considering the effect of cable mass.
Huiling Wei +3 more
doaj +1 more source
A Practical Force Correction Method for Over-Constrained Cable-Driven Parallel Robots
, 2021 S.117-128Cable-driven parallel robots can have a much larger workspace than other parallel robots with rigid links or conventional serial robots.
Marc Fabritius +9 more
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Continuous Tension Validation for Cable-Driven Parallel Robots [PDF]
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 This paper deals with continuous tension validation for Cable-Driven Parallel Robots (CDPRs). The proposed method aims at determining whether or not a quasi-static path is feasible regarding cable tension limits. The available wrench set (AWS) is the set of wrenches that can be generated with cable tensions within given minimum and maximum limits.
Bury, Diane +3 more
openaire +1 more source
IPAnema: A family of cable-driven parallel robots for industrial applications
, 2022 S.119-134Nowadays there are very little robot systems in operation in the field of medium to large-scale handling and assembly mostly due to lack of repetitive processes or shortcomings in programming and configuring such robots.
Pott, Andreas +5 more
core +1 more source
An elastic cable model for cable-driven parallel robots including hysteresis effects
, 2022 S.17-28Experimental results indicate that time invariant linear elastic models for cable-driven parallel robots show a significant error in the force prediction during operation.
Pott, Andreas +3 more
core +1 more source
Deployment/Retrieval Modeling of Cable‐Driven Parallel Robot [PDF]
Mathematical Problems in Engineering, 2010 A steady‐state dynamic model of a cable in air is put forward by using some tensor relations. For the dynamic motion of a long‐span Cable‐Driven Parallel Robot (CDPR) system, a driven cable deployment and retrieval mathematical model of CDPR is developed by employing lumped mass method. The effects of cable mass are taken into account.
Duan, Q. J. +3 more
openaire +1 more source
Efficient calibration of cable-driven parallel robots with variable structure
, 2022 S.113-128This paper presents an efficient practical approach for the combined explicit and implicit approximated calibration of cable-driven parallel robots (wire robots, CDPR) mainly developed to tackle the problems with variable system structures, i.e.
Bremer, N. +2 more
core +1 more source
Comparison of actuation schemes for wire-driven parallel robots [PDF]
, 2013 There are two main systems that can be used to coil and uncoil the wires of a wire-driven parallel robots: a rotary motor that turns a drum on which the wire is coiled or a linear motor with a pulley system.
Merlet, Jean-Pierre
core +1 more source
, 2022 S.137-148The large workspace of cable-driven parallel robots is one of their main benefits over conventional parallel robots with rigid links. Therefore, it is crucial to measure its size and analyze its constraints.
Pott, Andreas +2 more
core +1 more source
A New Performance Index for Underactuated Cable-Driven Parallel Robots [PDF]
, 2021 Cable-driven parallel robots (CDPRs) equipped with less cables than the end-effector (EE) degrees of freedom (DoFs) are underactued and underconstrained by design. These characteristics imply that only a subset of the EE DoFs can be assigned for planning
Ida E., Carricato M.
core +1 more source