In this paper, we investigate a design method for cable-driven snake arm maintainer (SAM) and its dynamics modelling. A SAM can provide redundant degrees of freedom high structural stiffness, as well load capacity simplified structure ideal various narrow extreme working environments, such nuclear power plants. However, their serial-parallel configuration cable drive system make the strongly co...

A hybrid cable-driven parallel robot (CDPR) is being developed that expands the capabilities of conventional CDPRs by replacing one cables with a linear actuator can be spooled and extended. This uses three curved leaf springs connected using magnetic strips to provide compressive or tensile forces while very compactly stored, kinematically similar cable push. When used in conjunction suspended...

Industrial robots are widely used in various processes of surface manufacturing, such as spray painting, spray forming, rapid tooling, spray coating, and polishing. Robot programming for these applications is still time consuming and costly. Typical teaching methods are not cost effective and efficient. There are many off-line programming methods developed to reduce the robot programming effort...

Cable-driven parallel robot (CDPR) has the great potential for various applications in industry and everyday life. They consist of an end effector a base, which connected by several cables. CDPRs have large workspace compared to classic robots. CDPR simpler structure good dynamic properties, high carrying capacity, mobility low cost. The only drawback is that cables can work retraction cannot p...

In this paper a three-dimensional mathematical model to simulate the hydrodynamic behavior of a tethered underwater robot system is proposed. The fluid motion around the robot is governed by mass and momentum conservation equations (Navier-Stokes equations). These highly nonlinear differential equations are solved numerically with the CFD code Fluent. From the numerical solution we obtain the h...