This paper presents the design, analysis, and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees-of-freedom in movement and flexible design. However, to t...

This paper addresses the topological and dimensional synthesis of cable-driven parallel robots. A combined methodology for type size optimization is proposed applied to a cable driven robot, which intended upper-limb rehabilitation exercises. The approach deals with set deterministic non-deterministic parameters within multi-objective genetic algorithm. study aims select suitable architecture h...

although construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction qua...

Abstract Cable-driven parallel robot (CDPR) is a type of high-performance that integrates cable-driven kinematic chains and mechanism theory. It inherits the high dynamics heavy load capacities significantly improves workspace, cost energy efficiency simultaneously. As result, CDPRs have had irreplaceable roles in industrial technological fields, such as astronomy, aerospace, logistics, simulat...

This letter tackles the problem of robots collaboratively towing a load with cables to specified goal location while avoiding collisions in real time. The introduction (as opposed rigid links) enables robotic team travel through narrow spaces by changing its intrinsic dimensions slack/taut switches cable. However, this is challenging because hybrid mode and dynamical coupling among multiple loa...