Workspace quality analysis and application for a completely restrained 3-Dof planar cable-driven parallel manipulator Xiaoqiang Tang, Lewei Tang, Jinsong Wang and Dengfeng Sun The State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China School of Aeronautics and Astronautics Engineering, Purdue University, West Lafayette, IN 47907-2045...

In this paper, an interval based approach is proposed to rigorously identify the model parameters of a parallel cable-driven robot. The studied manipulator follows a parallel architecture having 8 cables to control the 6 DOFs of its mobile platform. This robot is complex to model, mainly due to the cable behavior. To simplify it, some hypotheses on cable properties (no mass and no elasticity) a...

This article presents a model of novel 4-DOF kinematically redundant planar parallel grasping manipulator. As distinct from the traditional manipulator, proposed design includes an extensible platform, which provides kinematic redundancy. constructive feature is used for grasping. The discusses inverse and forward kinematics algorithm analytical relations between platform coordinates driven (co...

Cable-driven manipulators are traditionally designed for general performance objectives, such as maximisation of workspace. To take advantage of the reconfigurability of cable-driven mechanisms, the optimisation of cable-configurations for specific tasks is presented. Specifically, two types of task specific objectives are explored, the minimisation of cable forces over a desired trajectory and...