In this paper, we study the design and workspace of a 6–6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the moving platform can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing the variations of the workspace v...

− In this paper, we study the design and workspace of a 6-6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the MP (MP) can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing the variations of the workspace volume ...

Abstract: This paper introduces a cable-suspended robot, the Vehicle Simulation System, designed for pilot and driver training. The main idea of this work is to make a system that will provide realistic simulations of vehicle motion using virtual reality and a motion platform. A method to produce inertial forces acting on the vehicle user is proposed. A detailed description of the robot’s dynam...

An identi cation of the model parameters for a parallel cable-driven robot is performed by using both a calibration and a self-calibration approach. The manipulator studied is based on a parallel architecture having 8 cables to control the 6 degrees of freedom of its mobile platform so that the mobile platform is fully constrained by the cables. Under some hypotheses on cable properties, the in...

The teach pendant is a hand-held robot control terminal that provides a convenient means to move the robot, teach locations, and run robot programs. Nowadays, almost teaching pendant is connected with a robot controller using cable. The cable connection and the size of teaching pendant are not problems because a robot controller is separated with robot. However, a large size and wired teaching ...

A steady-state dynamic model of a cable in air is put forward by using some tensor relations. For the dynamic motion of a long-span Cable-Driven Parallel Robot CDPR system, a driven cable deployment and retrieval mathematical model of CDPR is developed by employing lumped mass method. The effects of cable mass are taken into account. The boundary condition of cable and initial values of equatio...

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...

Abstract: This paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (SMC) which is faced to external disturbances and parametric uncertainties. This control algorithm is based on Lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. The main contribution of the paper is t...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

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...