A cable‐driven underwater robotic system for delicate manipulation of marine biology samples
Sign Up to like & getrecommendations! Published in 2024 at "Journal of Field Robotics"
DOI: 10.1002/rob.22381
Abstract: Underwater robotic systems have the potential to assist and complement humans in dangerous or remote environments, such as in the monitoring, sampling, or manipulation of sensitive underwater species. Here we present the design, modeling, and… read more here.
Keywords: underwater robotic; cable driven; force; biology ... See more keywords
Topology optimization of a cable-driven soft robotic gripper
Sign Up to like & getrecommendations! Published in 2020 at "Structural and Multidisciplinary Optimization"
DOI: 10.1007/s00158-020-02619-y
Abstract: Improving the functionality of soft continuum manipulators to expand their application space has always been an important development direction for soft robotics. It remains very challenging to calculate the deformations of soft materials and predict… read more here.
Keywords: driven soft; soft robotic; topology; cable driven ... See more keywords
Analysis of effective vibration frequency of cable-driven parallel robot using mode tracking and quasi-static method
Sign Up to like & getrecommendations! Published in 2017 at "Microsystem Technologies"
DOI: 10.1007/s00542-016-3034-9
Abstract: Recently, cable-driven parallel robots (CDPRs) have been used in many industry applications because of many advantages such as large workspace, high moving sensitivity and so on. In this paper, finite element model (FEM) including cables… read more here.
Keywords: driven parallel; effective frequency; frequency; vibration ... See more keywords
Tip-trajectory tracking control of a deployable cable-driven robot via output redefinition
Sign Up to like & getrecommendations! Published in 2020 at "Multibody System Dynamics"
DOI: 10.1007/s11044-020-09761-x
Abstract: Large-scale deployable cable-driven robots face a lack of kinematic precision, and the cable dynamics impose considerable challenges in terms of controller design. The problem’s complexity increases because a deployable robot may not exploit expensive and… read more here.
Keywords: deployable cable; driven robot; control; cable ... See more keywords
Development of a new 3T1R type cable-driven haptic device
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Mechanical Science and Technology"
DOI: 10.1007/s12206-020-1029-z
Abstract: In this work, structural synthesis of lower-mobility cable-driven parallel mechanisms (CDPMs) is conducted to clearly identify all feasible structures of the lower-mobility CDPMs with n-degrees-of-freedom, which are driven by n +1 cables fixed on the… read more here.
Keywords: 3t1r type; cable driven; cable; haptic device ... See more keywords
On the Optimal Design of Cable Driven Parallel Robot with a Prescribed Workspace for Upper Limb Rehabilitation Tasks
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Bionic Engineering"
DOI: 10.1007/s42235-019-0041-4
Abstract: This paper deals with an optimization approach to design a cable driven parallel robot intended for upper limb rehabilitation tasks. The cable driven parallel robots have characteristics that make them best candidate for rehabilitation exercise… read more here.
Keywords: driven parallel; prescribed workspace; robot; upper limb ... See more keywords
Control of an Underactuated 4 Cable-Driven Parallel Robot using Modified Input-Output Feedback Linearization
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.1380
Abstract: Abstract This paper presents the control of an underactuated four Cable-Driven Parallel Robot (CDPR) using a modified input-output feedback linearization technique. The effect of internal dynamics (due to the underactuated degrees of freedom of the… read more here.
Keywords: control underactuated; cable driven; control; feedback linearization ... See more keywords
Non-iterative geometric method for cable-tension optimization of cable-driven parallel robots with 2 redundant cables
Sign Up to like & getrecommendations! Published in 2019 at "Mechatronics"
DOI: 10.1016/j.mechatronics.2019.03.002
Abstract: Abstract Aimed at addressing issues concerning the need for performing heavy calculations and difficulties encountered while determining cable tension in cable-driven parallel robots (CDPRs) equipped with 2 redundant cables, a non-iterative method for calculating cable… read more here.
Keywords: optimization; method; cable driven; cable tension ... See more keywords
Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup
Sign Up to like & getrecommendations! Published in 2019 at "Mechatronics"
DOI: 10.1016/j.mechatronics.2019.05.004
Abstract: Abstract This paper deals with the modeling and vision-based control of large-dimension cable-driven parallel robots. Inverse kinematics and instantaneous inverse kinematics models are derived from the elastic catenary cable modeling. These models turn out to… read more here.
Keywords: vision; driven parallel; control; cable driven ... See more keywords
Control Strategies for a Cable-Driven Parallel Robot with Varying Payload Information
Sign Up to like & getrecommendations! Published in 2021 at "Mechatronics"
DOI: 10.1016/j.mechatronics.2021.102648
Abstract: Abstract A suspended Cable-Driven Parallel Robot (CDPR) composed of eight cables and a moving platform (MP) is used in a pick-and-place application of metal plates with different shapes, sizes and masses. In order to ensure robust control… read more here.
Keywords: driven parallel; information; control; mass ... See more keywords
Dynamic analysis of high precision construction cable-driven parallel robots
Sign Up to like & getrecommendations! Published in 2019 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.01.023
Abstract: Abstract In this paper we propose a modeling strategy for Cable Driven Parallel Robots (CDPRs) that - given their complexity - are typically addressed using simplified analysis, therefore neglecting relevant dynamics. Specifically, the finite element… read more here.
Keywords: dynamic analysis; driven parallel; parallel robots; cable driven ... See more keywords