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Autocalibration Subsystem for Cable-Driven Parallel Robots
2020For Cable-Driven Parallel Robots, the cable length is the only element we control. Better knowledge of this parameter will improve robot performances. We propose a new cable length autocalibration subsystem. It consists of an instrumented cable, inductive sensors and a controller for digital data processing.
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Modeling of variable length Cable Driven Parallel Robot
Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, 2010A steady-state dynamic model for 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.
QJ Duan, JL Du, BY Duan, TJ Li, AF Tang
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A Cable-Driven Parallel Robot for 3D Printing
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA), 2018Although 3D-printing technology is now developing rapidly, few large-scale 3D printers have been developed. In this paper, a cable-driven parallel robot for 3D printing is developed. A cable-driven parallel robot (CPR) is proposed according to the printing requirements. Secondly, the mechanism characteristics are analyzed and the workspace of mechanism
Yanqi Zhong, Sen Qian
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Singularity Analysis of Planar Cable-Driven Parallel Robots
2008 IEEE Conference on Robotics, Automation and Mechatronics, 2008It 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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A cable driven parallel robot for coconut farm
2017 International Conference on Advances in Computing, Communications and Informatics (ICACCI), 2017This 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 +3 more
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Under-Constrained Cable-Driven Parallel Robots
2010This paper studies cable-driven parallel robots with less than six cables, in crane configuration. A major challenge in the study of these manipulators is the intrinsic coupling between kinematics and statics, which must be dealt with simultaneously. A geometrico-static model is provided, together with a general procedure aimed at effectively solving ...
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Deep Reinforcement Learning Control of Fully-Constrained Cable-Driven Parallel Robots
IEEE Transactions on Industrial Electronics, 2023Lu Qi, Chengwei Wu, Weiran Yao
exaly
Stiffness Analysis of Cable-Driven Parallel Robots
2013The aim of this thesis is the stiffness analysis of cable-driven parallel robots. Cable-driven parallel robots have drawn considerable attention because of their unique abilities and advantages such as the large workspace, light weight of cable actuators, easy disassembly and transportation of the robot.
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