workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

The science of rehabilitation shows that repeated movements of human limbs can help the patient regain function in the injured limb. There are three types of mechanical systems used for movement rehabilitation: robots, cable-driven manipulators, and exoskeletons. Industrial robots can be used because they provide a three-dimensional workspace with a wide range of flexibility to execute differen...

Cable-based robots build upon mechanisms that not only use rigid links in their structures but also utilize unilateral force elements such as cables to deliver the desired motion. Cables may be either connected to active winches to provide a variable length and hence to actuate the mechanism or may be only to provide a kinematic constraint to eliminate an undesired motion of the endeffector. Ma...

Cable robots have potential usage for loading and unloading of cargo in shipping industries. A novel sixdegree of freedom two-stage cable robot has been proposed by NIST for skin-to-skin transfer of cargo. In this paper, we look at a planar version of this two-stage cable robot. The disturbance motion from the sea is considered while modeling the dynamics of robot. The problem of robust control...

Underactuated Cable-Driven Parallel Robots (CDPR) employ a number of cables smaller than the degrees freedom (DoFs) end-effector (EE) that they control. As consequence, EE is underconstrained and preserves some freedoms even when all actuators are locked, which may lead to undesirable oscillations. This paper proposes methodology for computation natural oscillation frequencies, whose knowledge ...

This paper presents an approach on stability analysis of cable-driven parallel robots (CDPRs) considering cable mass based tensions and stiffness matrix condition numbers. A model is introduced the effect mass. established model. Then, numbers are presented. Furthermore, CDPRs discussed. Numerical simulations show that better in center at top whole workspace than other places, which agrees well...

This paper presents an initial work of identifying the dynamic parameters for cable-driven parallel robot (CDPR), CRAFT with a rigorous protocol. An orbital trajectory platform is designed in order to get pure translation movement platform. evolves plane and allows identification four parameters, mass first three moments along main axes. The results obtained respectively from data experimental ...