Results 1 to 10 of about 14,818 (261)
An Experimental Characterization of TORVEastro, Cable-Driven Astronaut Robot [PDF]
Robotics, 2021 TORVEastro robot design is presented with a built prototype in LARM2 (Laboratory of Robot Mechatronics) for testing and characterizing its functionality for service in space stations. Several robot astronauts are designed with bulky human-like structures that cannot be convenient for outdoor space service in monitoring and maintenance of the external ...
Francesco Samani, Marco Ceccarelli
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Natural Oscillations of Underactuated Cable-Driven Parallel Robots [PDF]
IEEE Access, 2021 Underactuated Cable-Driven Parallel Robots (CDPR) employ a number of cables smaller than the degrees of freedom (DoFs) of the end-effector (EE) that they control. As a consequence, the EE is underconstrained and preserves some freedoms even when all actuators are locked, which may lead to undesirable oscillations.
Edoardo Idà +2 more
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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
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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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A Review on Cable-driven Parallel Robots [PDF]
Chinese Journal of Mechanical Engineering, 2018 Cable-driven parallel robots (CDPRs) are categorized as a type of parallel manipulators. In CDPRs, flexible cables are used to take the place of rigid links. The particular property of cables provides CDPRs several advantages, including larger workspaces, higher payload-to-weight ratio and lower manufacturing costs rather than rigid-link robots.
Sen Qian +3 more
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Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robot
, 2022 The subject of this paper is about the relationship between the stiffness and the transparency of Cable-Driven Parallel Robots (CDPRs) used as human-machine interfaces in object comanipulation tasks. An index quantifying the transparency of a CDPR is first introduced.
Métillon, Marceau +3 more
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Smart Cable-Driven Camera Robotic Assistant
IEEE Transactions on Human-Machine Systems, 2018 DPI2010-21126-C03-01 and DPI2013-47196-C3 ...
Irene Rivas-Blanco +5 more
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Modeling and Actuation of Cable-driven Silicone Soft Robots
Eurographics Proceedings, 2021 Modeling and ...
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Development of Modular Cable-Driven Parallel Robotic Systems [PDF]
IEEE Access, 2019 Task-oriented modular design and safety monitoring are demonstrated to be outstanding challenges for robots in practical application. In order to obtain better flexibility and better obstacles avoidance capability, design and analysis of a modular cable-driven parallel robot (MCDPR) are presented in this paper, which can be reconfigured to several ...
Sen Qian, Bin Zi, Daoming Wang, Yuan Li
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