A geometrically exact analytical model of cable-driven parallel manipulators operating in a three-dimensional space is formulated and discussed this work. The aims at investigating the positioning rigid body Cartesian by m-cables-driven manipulator taking into account cables mass, their elasticity and, consequently, sag effect. direct kinematic problem means 3(m+1) nonlinear equations expressin...

In this paper modeling and control of cable driven redundant parallel manipulators with flexible cables, are studied in detail. Based on new results, in fully constrained cable robots, cables can be modeled as axial linear springs. Considering this assumption the system dynamics formulation is developed using Lagrange approach. Since in this class of robots, all the cables should remain in tens...

Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currentl...

Abstract Productivity can be increased by manipulators tracking the desired trajectory with some constraints. Humans as moving obstacles in a shared workspace are one of most challenging problems for cable-driven parallel mechanisms (CDPMs) that considered this research. One essential primary issues CDPM is collision avoidance among cables and humans workspace. This paper presents model simulat...

This study discusses the force analysis of hybrid cable driven manipulators having both cables and rigid links with actuators installed on both of them. It is desired to operate the manipulator with minimum actuation forces to minimize cable elongation and reduce the operational cost. A minimization procedure is discussed here based on Dykstra’s algorithm to minimize the 2-norm of the actuators...