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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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On the workspace of suspended cable-driven parallel robots
2016 IEEE International Conference on Robotics and Automation (ICRA), 2016no ...
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Interference Determination for Parallel Cable-Driven Robots
Advanced Materials Research, 2011This paper develops an approach to overcome the misjudgment and omission problems of determining interference for parallel cable-driven robots, which is essential to clear interference classification in the first place. According to the clear classification, interference condition between a cable and a cable or a cable and an edge of the end-effector ...
Yu Su, Jian Wei Mi, Yuan Ying Qiu
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Variable-Structure Cable-Driven Parallel Robots
2021Cable-driven parallel robots (CDPR) have seen great advances over the past two decades; however, they remain plagued by their inability to cover non-convex installation-spaces and low workspace to installation-space ratios relative to their rigid counterparts.
Mitchell Rushton, Amir Khajepour
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Adaptive control for cable driven parallel robots
2017 17th International Conference on Control, Automation and Systems (ICCAS), 2017CDPR(Cable Driven Parallel Robot) is flexible robot system that can be applied to various environment and energy effective system. Because the rigid actuators of the conventional robots are changed into cables. Cable can generate only tensile force and has nonlinear features, such as nonlinear stiffness, hysteresis, creep, and so on, so it occurs ...
Jonghyun Yoon +3 more
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Influence of Pulley Kinematics on Cable-Driven Parallel Robots
2012In this paper the modeling of a pulley mechanism for cable-driven parallel robots is presented. In many works, the proximal anchor points of the robots are simplified to be ideal points. Real cables achieve reasonable life time only when a minimum bending radius is exceeded.
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Cable-Driven Parallel Robot for Warehouse Monitoring Tasks
2023 IEEE 13th Annual Computing and Communication Workshop and Conference (CCWC), 2023Armaun Zargari +3 more
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