Abstract In this work, a planar cable parallel robot (CPR) driven by four cable-and-pulley differentials is proposed and analyzed. A new differential designed adding an extra pulley to eliminate the modeling inaccuracies due radius obviate need of solving complex model which considers kinematics. The design parameters CPR are determined through multi-objective optimal for largest total orientat...

Employing cables with strong flexibility and unidirectional restraints to operate a camera platform leads stability issues for robot long-span considering the cable mass. Cable tensions, which are constraints platform, have critical influence on of robot. Consequently, this paper focuses two special problems minimum tension distributions (MCTDs) within workspace sensitivity analysis (CTSA) by t...

This paper examines the design, analysis and control of a novel hybrid articulated-cable parallel platform for upper limb rehabilitation in three dimensional space. The proposed lightweight, low-cost, modular reconfigurable parallel-architecture robotic device is comprised of five cables and a single linear actuator which connects a six degrees-of-freedom moving platform to a fixed base. This n...

In this paper, we propose a wheel-based cable climbing robotic system which can climb up and down the vertical cylindrical cables in the suspension bridges. Firstly, we develop climbing mechanism which includes wheels driven by motors and adhesion system.In addition,we propose a special design of adhesion mechanism which can maintain adhesion force even when the power is lost.Finally, an additi...

Obtaining mathematical equations to model the kinematics of a hyper-redundant robot is not intuitive and greater difficulty than for traditional robots. Depending on characteristics robot, most appropriate methodology approach modelling may be one or another. This article provides general overview different approaches there are when cable-driven while proposing guide help novel researcher that ...

We are considering cable-driven parallel robot (CDPR), where the legs of constituted cables that can be independently coiled/uncoiled. show whatever size CDPR is we may have slack so using a sagging cable model takes into account both mass and elasticity will improve positioning accuracy. Being able to solve inverse direct kinematics (IK/DK) with crucial for kinematic analysis while being quite...

This paper presents an approach on stability analysis of cable-driven parallel robots (CDPRs) considering cable mass based tensions and stiffness matrix condition numbers. A model is introduced the effect mass. established model. Then, numbers are presented. Furthermore, CDPRs discussed. Numerical simulations show that better in center at top whole workspace than other places, which agrees well...