A R T I C L E I N F O A B S T R A C T Article history: Received: July 10, 2009 Received in revised form: November 11, 2009 Accepted: December 2, 2009 Optimal design of parallel manipulators is known as a challenging problem especially for cable driven robots. In this paper, optimal design of cable driven redundant parallel manipulators (CDRPM) is studied in detail. Visual Inspection method is p...

The simple and low cost manipulator system for the use in small workspace of nuclear laboratories is presented. The system is designed for remote translocation of radioactive sources and other applications increasing staff safety during processing of radioisotope materials. The described cable-pulley manipulator is controlled by a very simple PC set–up.

This paper presents the design and mathematical model of an innovative smart crane, CHAYA-SC, based on principle a cable-driven parallel manipulator, as well its stabilization. crane is mounted airship hold intended for handling at altitude. Our objective to precise light that can be used container loading or unloading, particularly in deep-sea ports. Thus, developed includes oscillations trans...

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 ...

The paper analyzes a planar three degrees of freedom manipulator with cable actuation. Such system can be understood as special type hybrid parallel kinematic mechanism composed the rigid serial chain and additional auxiliary system. advantage is ability to reconfigure whole fulfillment sufficient prestressing constraint optimization process. Computed Torque Control force distribution algorithm...

In this paper, a dynamical model-based SMC (Sliding Mode Control) is proposed fortrajectory tracking of a 3-RPS (Revolute, Prismatic, Spherical) parallel manipulator. With ignoring smallinertial effects of all legs and joints compared with those of the end-effector of 3-RPS, the dynamical model ofthe manipulator is developed based on Lagrange method. By removing the unknown Lagrange multipliers...

In this paper the kinematic and Jacobian analysis of a macro–micro parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of the Large Adaptive Reflector (LAR), the Canadian design of the next generation of giant radio telescopes. This structure is composed of two parallel and redundantly actuated manipulators at the mac...

A geometrically exact analytical model of cable-driven parallel manipulators operating in a three-dimensional space is formulated and discussed this work. The aims at investigating the positioning rigid body Cartesian by m-cables-driven manipulator taking into account cables mass, their elasticity and, consequently, sag effect. direct kinematic problem means 3(m+1) nonlinear equations expressin...