This paper investigates the force sensitivity of 6-DOF cable-driven parallel robots (CDPRs) in order to propose a better measurement device. Kinematics and dynamics for CDPR n-DOF are deduced formulated, algorithms calculating cable tension developed. Then, by defining geometrical parameters related dimensions configurations CDPRs, optimal methods determining with respect structure matrix twist...

Cable-Driven Parallel Robots (CDPRs) use cables arranged in a parallel fashion to manipulate an end-effector (EE). They are functionally similar several cranes that automatically collaborate handling shared payload. Thus, CDPRs share types of equipment with cranes, such as winches, hoists, and pulleys. On the other hand, since rely on model-based automatic controllers for their operations, stan...

This article presents redundancy resolution and disturbance rejection via torque optimization in hybrid cable-driven robots (HCDRs). To begin with, we present a redundant HCDR for nonlinear whole-body system modeling model reduction. Based on the reduced dynamic model, two new methods are proposed to solve problem: 1) joint-space actuated joints (TOAJ) 2) unactuated (TOAUJ), they can be extende...