Cable-Suspended Haptic Interface

Planar Cable-suspended Haptic Interface: Design for Wrench Exertion

Cable-suspended robots and haptics interfaces are appealing because of their structural simplicity, high stiffness, and high exerted wrench-to-weight ratio. A major drawback is that cables cannot push but can only exert tension. Therefore, actuation redundancy is required; even so, certain configurations and wrenches will fail since they would require one or more cables to push. The objective o...

A planar parallel 3-DOF cable-driven haptic interface

In this paper, a cable-driven planar parallel haptic interface is presented. First, the velocity equations are derived and the forces in the cables are obtained by the principle of virtual work. Then, an analysis of the wrench-closure workspace is performed and a geometric arrangement of the cables is proposed. Control issues are then discussed and a control scheme is presented. The calibration...

Novel cable-suspended RoboCrane support

The NIST RoboCrane is a cable-suspended robot with the potential to reduce the disadvantages of conventional cranes. One weakness of the RoboCrane is the need for at least three fixed rigid support points for the six overhead cable connections. In many potential applications, these rigid support points are simply not available. This article presents a new RoboCrane support concept based on rigi...

Simulation of the Admittance Control Based Haptic Interface Device

Cable-suspended robotic contour crafting system

This article introduces a new concept for a contour crafting construction system. Contour crafting is a relatively new layered fabrication technology that enables automated construction of whole structures. The system proposed here consists of a mobile contour crafting platform driven by a translational cable-suspended robot. The platform includes an extrusion system for laying beads of concret...