This work introduces a new architecture for a parallel, six degree of freedom manipulator. The kinematic analysis of this redundant manipulator is provided. The proposed parallel mechanism allows easy implementation of redundant actuators, and has relatively large workspace in comparison to conventional six degree of freedom parallel devices. The kinematic analysis performed forms the basis for...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

In this paper a performance analysis is presented for a cable-suspended parallel manipulator. Experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. The loadcarrying capacity during a given trajectory is obtained. This computational technique is tested on a typical planar cable suspended manipulator. The experime...

As is well known, a wire-driven parallel manipulator is a manipulator whose end-effector is driven by a number of cables instead of rigid links. It shows several promising advantages over its rigid-link counterpart, such as simple light-weight mechanical structure, low moment inertia, large reachable workspace and high-speed motion. In the 1980s, the National Institute of Standards and Technolo...

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...

Robotic inspection and maintenance are gaining importance due to the number of different scenarios in which robots can operate. The use robotic systems accomplish such tasks has deep implications terms safety for human workers significantly extend life infrastructures industrial facilities. In this context, long-reach cable-driven hyper-redundant be employed inspect areas that difficult reach h...

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...