In the field of large scale robotic, which is often remotely operated, having direct interaction can be disruptive for applications such as moving heavy loads or 3D printing. A Cable-Driven Parallel Robot (CDPR) used here in physical Human–Robot Interactions (pHRI) with an admittance-based control strategy to physically interact a user tele-operation co-manipulation mode. experiment involving p...

A cable-driven parallel mechanism (CDPM) possesses a number of promising advantages over the conventional rigid-link mechanisms, such as simple and light-weight mechanical structure, high-loading capacity, and large reachable workspace. However, the formulations and results obtained for the rigid-link mechanisms cannot be directly applied to CDPMs due to the unilateral property of cables. This ...

This paper studies the kinematics and statics of cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, together with a general procedure aimed at effectively solving, in analytical form, the inverse and direct position problems. The stability of equilibrium is assessed within the framework of a constrained optimization problem, fo...

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...

The LAR is a concept of a large orientable radiotelescope composed namely of a cable-driven parallel mechanism used to position and orient a feed plate. This document presents a first analysis of this mechanism’s orientation capability. The rotational kinematic sensitivity is defined here as the possible change in orientation occuring under a change in the actuation. After the application is de...