Configuration Synthesis for Fully Restrained 7-Cable-Driven Manipulators

Workspace analysis of fully restrained cable-driven manipulators

For Cable-Driven Parallel Manipulators (CDPMs), employing redundant driving cables is necessary to obtain the full manipulation of the moving platform because of the unilateral driving property of the cables. Unlike rigid-link manipulators, the workspace of CDPMs is always determined and characterized by positive tension status of driving cables. In addition, it has been realized that the Tensi...

Fuzzy Control System Design and Analysis for Completely Restrained Cable-Driven Manipulators

Optimal Design of Dexterous Cable Driven Parallel Manipulators

A R T I C L E I N F O A B S T R A C T Article history: Received: July 10, 2009 Received in revised form: November 11, 2009 Accepted: December 2, 2009 Optimal design of parallel manipulators is known as a challenging problem especially for cable driven robots. In this paper, optimal design of cable driven redundant parallel manipulators (CDRPM) is studied in detail. Visual Inspection method is p...

Using ADAMS to Model Cable Driven Hyper-Redundant Flexible Manipulators

This paper outlines the current state of the virtual prototyping program using ADAMS under development at GreyPilgrim Incorporated. This program is being developed in order to provide analysis in the mechanical design of cable driven hyperredundant flexible manipulators, referred to as EMMAs (Easily Manipulated Mechanical Arms). A diagram of a typical EMMA manipulator can be seen in Figure 1 be...

Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots

In this paper, the authors study the kinematic isotropic configuration of spatial cable-driven parallel robots by means of four different methods, namely, (i) symbolic method, (ii) geometric workspace, (iii) numerical workspace and global tension index (GTI), and (iv) numerical approach. The authors apply the mentioned techniques to two types of spatial cable-driven parallel manipulators to obt...