This article presents a new planar translational cable-direct-driven robot 1 (CDDR) with actuation redundancy and supported against loading normal to the 2 motion plane with a passive planar two-degree-of-freedom SCARA-type (Selective 3 Compliance Assembly Robot Arm) serial manipulator. This allows the robot to 4 resist cable sag without being supported on the motion plane. The proposed robot 5...

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...

We show the design and implementation of a robot controller with a unique locomotion system. We demonstrate that a discrete-event simulation based design provides a cost-effective, flexible , open workflow for modular robotic development. The robot is designed to translate against a vertical surface using cables fixed at one end that can wind on motor-controlled spools attached to the robot. Th...

The Dynamic Tensegrity Robotics Lab (DTRL) at the NASA Ames Research center is actively researching the design, control, and locomotion of tensegrity robots for planetary exploration. The advantage of using a tensegrity robot emerges from the fact that it behaves as a structured soft robot. This term, structured soft robotic system, comes from the fact that tensegrity systems are traditionally ...

This paper presents a new geometry-based method to determine if a cable-driven robot operating in a d-degree-of-freedom workspace (2 ≤ d ≤ 6) with n ≥ d cables can generate a given set of wrenches in a given pose, considering acceptable minimum and maximum tensions in the cables. To this end, the fundamental nature of the Available Wrench Set is studied. The latter concept, defined here, is clo...

In this paper, robust control of a large cable-driven robot is presented (LCDR). In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motions. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this case study, sliding mode control via double integrator sliding surface is pre...

Robots are controlled with a discrete-time controller that includes a highlevel loop for motion control and a faster internal loop that controls the actuators. We intend to simulate the behavior of the whole chain for a cable-driven parallel robot (CDPR) with linear elastic cables and we will show that such a simulation cannot be performed using classical simulation tools. We exhibit a simulati...

This paper presents recent results from the Robotics Systems Laboratory at the Australian National University in the area of Robot Vision. Progress has been made in the design and construction of novel mechanisms for both active and panoramic vision, together with computer systems that facilitate real-time vision processing. The robot vision systems are being used to develop human-friendly robo...

This paper investigates and presents a cable-driven robot to lower limb rehabilitation use in sagittal plane. The presented rehabilitation robot is used for a trajectory tracking in joint space. The paper covers kinematic and dynamic analysis, which reveals the tensionability of the used cables as being the actuating source to provide a rehabilitation exercises of the human leg. The desired tra...