Cable-driven parallel robots offer significant advantages in terms of workspace dimensions and payload capability. Their mechanical structure transmission system consist light extendable cables that can withstand high tensile loads. Cables are wound unwound by a set motorized winches, so the robot mainly depend on amount cable each drum store. For this reason, these manipulators attractive for ...

One of the most challenging issues in adaptive control robot manipulators with kinematic uncertainties is requirement inverse Jacobian matrix regressor form. This inevitable case parallel robots, whose dynamic equations are written directly task space. In this paper, an controller designed for robots based on representation form, such that asymptotic trajectory tracking ensured. The main idea s...

The design, dynamic modelling, and workspace are presented in this paper concerning cooperative cable parallel manipulators for multiple mobile cranes (CPMMCs). The CPMMCs can handle complex tasks that are more difficult or even impossible for a single mobile crane. Kinematics and dynamics of the CPMMCs are studied on the basis of geometric methodology and dʹAlembert’s pr...

This paper outlines the current state of the virtual prototyping program using ADAMS under development at GreyPilgrim Incorporated. This program is being developed in order to provide analysis in the mechanical design of cable driven hyperredundant flexible manipulators, referred to as EMMAs (Easily Manipulated Mechanical Arms). A diagram of a typical EMMA manipulator can be seen in Figure 1 be...

The maximum cable tension is a crucial parameter in the design of cable-driven parallel robot (CDPR) since various mechanical components CDPR must be designed to safely withstand loads induced by this tension. For CDPRs having number cables at least equal its degree freedoms (DOFs), article deals with determination smallest vectors allowing required wrench set feasible. problem formulated as mi...

This paper presents design and kinematic analysis for a cable-driven parallel robotic (CDPR) manipulator with four cables, The CDPR manipulator produces a planar motion including two translational and one rotational degrees of freedom. To move the end-effector of CDPR, its kinematic structure is analyzed and the inverse kinematics is formulated in the closed-form solution. The experimental test...