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Energy efficiency of cable-driven parallel robots
2016 IEEE International Conference on Robotics and Automation (ICRA), 2016Cable-driven parallel robots, hereinafter referred to as cable robots, use cables to manipulate a mobile platform with 6 DOF. Cable robots have a low moved mass, as the winches with the servo drives are fixed to the machine frame and light weight synthetic fiber cables can be used.
Werner Kraus +2 more
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ESO-Based Antisaturation Motion Control for Cable-Driven Continuum Robots
IEEE/ASME transactions on mechatronicsHigh precision motion control is the key to complete the refined operation tasks for cable-driven continuum robots. However, the existence of model inaccuracy and actuator saturation pose great challenges to the high precision motion control of cable ...
Kuan Zhang +5 more
semanticscholar +1 more source
Constrained Path Planning for Reconfiguration of Cable-Driven Parallel Robots
IEEE/ASME transactions on mechatronics, 2023Obstacle avoidance is a challenging problem in cable-driven parallel robots (CDPRs) due to the cross-distribution of cables in the workspace. To address this challenge, a novel constrained path planning method is proposed in this article to realize the ...
Xiaoyan Wang +4 more
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Self-Calibration of Cable Driven Continuum Robot
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2018Continuum structured robot has been investigate in many years due to their highly flexible properties and high number of degrees of freedom (DOF). To address the strong compliance these robots are usually have low kinematic accuracy. In addition, the inevitable manufacturing tolerance, wear of connecting mechanisms will also resulting the geometric ...
Tianjiang Zheng +6 more
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Attitude Stability of a Cable Driven Balloon Robot
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006At the time of a large-scale urban earthquake disaster, human search activities and information collection are the most important processes of rescue operations. Robots for search and rescue (e.g., aero-robots, crawler type robots) have been studied extensively recently.
Fumiaki Takemura +2 more
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Hybrid Impedance Control of Cable-Driven Parallel Robots Using Adaptive Friction Compensation
IEEE transactions on industrial electronics (1982. Print)Cable-driven parallel robots (CDPRs) are a new type of parallel robot using several cables to drive a mobile platform, and perform better than rigid parallel robots in certain cases.
Zhehao Li, Weiwei Shang, Bin Zhang
semanticscholar +1 more source
Cable-Driven Jamming of a Boundary Constrained Soft Robot
2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020Soft robots employ flexible and compliant materials to perform adaptive tasks and navigate uncertain environments. However, soft robots are often unable to achieve forces and precision on the order of rigid-bodied robots. In this paper, we propose a new class of mobile soft robots that can reversibly transition between compliant and stiff states ...
Koki Tanaka +8 more
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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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