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...

in this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. this approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effec...

Mechanical structure of a cable-based parallel manipulator consists of a moving platform, witch is called end-effector, and a base. These two elements are connected by multiple cables. Indeed, the end-effector is operated by motors that can extend or retract cables. Cable-based parallel manipulators are structurally similar to parallel ones but they have some advantages, if compared to classica...

This paper presents the concept of a cable-manipulator based 6-DOF hardware-in-the-loop (HIL) dynamics simulation system for testing and verification of microgravity contact-dynamics behavior of a space system. It then focuses on the inverse dynamics problem of the 6-DOF cable-driven manipulator which is designed for the simulation system. Accurate modeling and solution of the inverse dynamics ...

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...

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...

dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...

The challenging control problem of the cable driven redundant manipulators is due to the complexity of its dynamic and the required stringent performance for the its promising applications. This paper presents an approach to the control of the KNTU CDRPM using an adaptive cascade control scheme. The goal in this approach is achieving accurate trajectory tracking while assuring positive tension ...