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Design and implementation of a multi-degrees-of-freedom cable-driven parallel robot with gripper
International Journal of Advanced Robotic Systems, 2018 Cable-driven parallel robots comprise driven actuators that allow controlled cables to act in parallel on an end-effector. Such a robotic system has a potentially large reachable workspace, large load capacity, high payload-to-weight ratio, high ...
Jonqlan Lin, Chi Ying Wu, Julian Chang
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An Overview of the Development for Cable-Driven Parallel Manipulator
Advances in Mechanical Engineering, 2014 In the last two decades, cable-driven parallel robots have attracted a lot of attention in robot community as a hot topic of robot research. In this paper, the development of the cable-driven parallel manipulator is first introduced in general.
Xiaoqiang Tang
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A curvilinear snake arm robot with gripper-axis fibre-optic image processor feedback [PDF]
, 1983 The official version of this article can be found at the link below.A curvilinear robot constructed from a number of modular flexible sections of fixed length and diameter but independently controlled radius and direction of curvature has been equipped ...
D. Lavie +3 more
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Reconfiguration strategy for fully actuated translational cable-suspended parallel robots
Frontiers in Robotics and AI, 2023 In Cable-Suspended Parallel Robots (CSPRs), reconfigurability, i.e., the possibility of modifying the position of the cable connection points on the base frame, is particularly interesting to investigate, since it paves the way for future industrial and ...
Jason Bettega +4 more
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Optimization and design of a cable driven upper arm exoskeleton [PDF]
, 2009 This paper presents the design of a wearable upper arm exoskeleton that can be used to assist and train arm movements of stroke survivors or subjects with weak musculature.
Agrawal, S.K. +4 more
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Advances in Mechanical Engineering, 2017 Recently, cable-driven parallel robots have been used in many industrial fields. Especially, cable-driven parallel robots have been used in specialized industrial fields where dynamical features such as high accuracy in systems requiring quick ...
Sung-Hyun Choi +2 more
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Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation [PDF]
, 2007 This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the
Asseldonk, Edwin H.F. van +5 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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Static workspace computation for underactuated cable-driven parallel robots
Mechanism and Machine Theory, 2023 Cable-Driven Parallel Robots (CDPRs) move an end-effector (EE) using cables arranged in a parallel fashion. If a CDPR employs fewer cables than its EE degrees of freedom (DoFs), the robot is generally underactuated and underconstrained. Consequently, only a subset of the EE DoFs can be assigned for trajectory planning purposes, and the EE pose cannot ...
Ida E., Carricato M.
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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
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