∗ Corresponding author, Phone: (716) 645-1430, Fax: (716) 645-3668, Email: [email protected]. ABSTRACT Cable-actuated parallel manipulators combine benefits of large workspaces, significant payload capacities and high stiffness by virtue of the cable actuation. However, redundant/surplus cables are required to overcome the unidirectional nature of forces exertable by cables. This leads to ...

A hyper-redundant manipulator has the advantage that it can be used in constraint space; however the control of hyper-redundant manipulator is difficult. This paper presents a concept of virtual link based two degrees of freedom (DOF) controller. With the proposed controller, manipulator of any number of links can be reduced to either a 2-link virtual manipulator or one real and one virtual lin...

Cable-driven parallel robots are mechanisms that control the position and attitude of an object using multiple cables. Typical cable-driven have been studied for use on land, but not in water. This is because motion analysis become difficult underwater due to large deformation cables caused by fluid forces. In this paper, we propose robot consisting on-water derive a dynamics model considers ca...

The parallel mechanism has become an alternative solution when micro manipulators are demanded in the fields of micro manipulation and micro assembly. In this paper, a threeDegree-Of-Freedom (3-DOF) parallel micro manipulator is presented, which is directly driven by three micro gas bubbles. Since the micro gas bubbles are generated and maintained due to the surface tension between the gas and ...

In this study, we investigated dynamic control strategies for over-constrained cable-driven robots. order to a robot, it is essential address issues that arise from the restriction of cable tension, as well redundancy an system. contrast previous research required consideration relationship between tension constraints and computed wrench in distribution problems, developed function incorporates...

This paper presents a solution scheme for forward kinematics of a general fully parallel manipulator that guarantees a unique solution with only three redundant sensors. The redundant sensors were designed to minimize engineering difficulties in the realization, whereas an optimal sensor location was proposed to achieve a numerical efficiency and accuracy significantly better than existing solu...