in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

accommodation of mechanism with human being’s physical characteristics creates the possibility of safe and efficient interaction between human being and robot. regarding the fact that amputation of a limb in human beings causes several mental, economical and social difficulties and problems, need to a substitute limb which has the most efficiency for the person after amputation is a vital need....

Cable-Driven Parallel Robots (CDPRs) are a special kind of parallel manipulator that uses cables to control the position and orientation mobile platform or end effector. The use instead rigid links offers some advantages over their conventional counterparts. As can only pull but not push, number (n) required command end-effector is always n+1. This configuration known as fully-constrained, it m...

Magnetic coupling is a strategy to transmit actuation forces across a physical barrier. This approach can be applied to remotely control and manipulate robotic instruments in minimally invasive surgery (MIS) [1]. Interrupting the mechanical continuity of such system by having surgical instruments and laparoscopic camera magnetically coupled across the abdominal wall greatly enhances both the wo...

Cable-based robots build upon mechanisms that not only use rigid links in their structures but also utilize unilateral force elements such as cables to deliver the desired motion. Cables may be either connected to active winches to provide a variable length and hence to actuate the mechanism or may be only to provide a kinematic constraint to eliminate an undesired motion of the endeffector. Ma...

In this paper, we study the design and workspace of a 6–6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the moving platform can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing the variations of the workspace v...

A parallel manipulator is naturally associated with a set of constraint functions defined by its closure constraints. The differential forms arising from these constraint functions completely characterize the geometric properties of the manipulator. In this paper, using the language of differential forms, we provide a thorough geometric study on the various types of singularities of a parallel ...

The morphological design of kinematically redundant robotic manipulators is a non-trivial, task-specific process. The availability of redundant degrees of freedom (DOF) affords a redundant manipulator an infinite number of motion solutions for a given task, thereby allowing the achievement secondary manipulation goals. Motion control methods play an integral role in the quality of redundancy re...