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
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
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
Enhanced Dynamic Capability of Cable-Driven Parallel Manipulators by Reconfiguration
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DOI: 10.1017/s0263574721000230
Abstract: SUMMARY Cable-driven parallel manipulators (CDPMs) offer advantages over traditional parallel manipulators. Though their ability to accelerate is higher than the traditional motion platforms, the capabilities are often not used optimally. The issues of cable slackening… read more here.
Keywords: enhanced dynamic; driven parallel; cable driven; dynamic capability ... See more keywords
A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue
Sign Up to like & getrecommendations! Published in 2022 at "Robotica"
DOI: 10.1017/s0263574722000923
Abstract: Abstract Cable-driven parallel robots (CDPRs) are still gaining attention thanks to their interesting characteristics compared to serial or classic parallel manipulators. However, the limited range of rotation of their end-effectors reduces their application fields to… read more here.
Keywords: workspace; robot; solution; cable driven ... See more keywords
Reconfigurable fully constrained cable-driven parallel mechanism for avoiding collision between cables with human
Sign Up to like & getrecommendations! Published in 2022 at "Robotica"
DOI: 10.1017/s0263574722000996
Abstract: Abstract Productivity can be increased by manipulators tracking the desired trajectory with some constraints. Humans as moving obstacles in a shared workspace are one of the most challenging problems for cable-driven parallel mechanisms (CDPMs) that… read more here.
Keywords: reconfigurable fully; cable; collision; fully constrained ... See more keywords
Three-dimensional static and dynamic stiffness analyses of the cable driven parallel robot with non-negligible cable mass and elasticity
Sign Up to like & getrecommendations! Published in 2018 at "Mechanics Based Design of Structures and Machines"
DOI: 10.1080/15397734.2017.1358094
Abstract: ABSTRACT This study investigates the three-dimensional static and dynamic stiffness analyses of the cable driven parallel robot by considering cable mass, elasticity, and mass of end-effector. According to these models, optimization of cable tensions and… read more here.
Keywords: driven parallel; stiffness; cable; parallel robot ... See more keywords
Calculation and Analysis of Constant Stiffness Space for Redundant Cable-Driven Parallel Robots
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2921839
Abstract: In this paper, a new concept of the constant stiffness space (CSS) of cable-driven parallel robots (CDPRs) is presented to meet the requirement for the constant stiffness plane of CDPRs in ground simulation spacecraft landing… read more here.
Keywords: driven parallel; stiffness space; constant stiffness; stiffness ... See more keywords
Robust 2½D Visual Servoing of A Cable-Driven Parallel Robot Thanks to Trajectory Tracking
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2965033
Abstract: Cable-driven parallel robots (CDPRs) are a kind of parallel robots that have cables instead of rigid links. Implementing vision-based control on CDPRs leads to a good final accuracy despite modeling errors and other perturbations in the… read more here.
Keywords: cable driven; driven parallel; visual servoing; trajectory tracking ... See more keywords