Continuum robots are the behavioral extension of hyper-redundant usually inspired by living biological organs. These outperform their rigid counterparts regarding high flexibility, dexterity, and most importantly safe interaction. On flip side, they kinematically redundant, highly nonlinear, multi-input, consequently, controlling remains a complex challenging task. To this end, paper proposes F...

The kinematics and dynamics of two industrial cooperating robots are presented in this paper. The NOC (natural orthogonal complement) method is used to derive the dynamical equations for the motion of two cooperating robots. The joint torques of the two robots are determined based on the optimization techniques in order to obtain unique solution for joint torques. To this end, minimizing the cr...

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 coupled nonlinear equations of motion of a suspended cable with time dependent tension and velocity are derived by using hamilton’s principal. a modal analysis for a stationary sagged cable is initially carried out in order to identify the dynamic system. the natural solution is directed to compute the natural frequencies and mode shapes of the free vibration of a suspended cable....

due to their advantages, omni-directional mobile robots have found many applications especially in robotic soccer competitions. however, omni directional navigation system, omni-vision system and kicking mechanism in such mobile robots have not ever been combined. this situation brings the idea of a robot with no head direction into existence, a comprehensive omni directional mobile robot. such...

Despite recent progress in trajectory planning for multiple robots and a single tethered robot, to reach their individual targets without entanglements remains challenging problem. In this article, complete approach is presented address First, multirobot tether-aware representation of homotopy proposed efficiently evaluate the feasibility safety potential path terms 1) cable length required tar...

This paper addresses the cable tension distributions of a cable-driven parallel robot with non-negligible cable mass for large dimension mechanisms. A well-known model which describes the profile of a cable under the action of its own weight allows us to take the cable sags into account. In addition, an approach to computing the cable tensions is presented, in which there are two major steps to...