This article proposes modeling, simulation and kinematic and workspace analysis of a spatial cable suspended robot as incompletely Restrained Positioning Mechanism (IRPM). These types of robots have six cables equal to the number of degrees of freedom. After modeling, the kinds of workspace are defined then an statically reachable combined workspace for different geometric structures of fixed a...

Abstract Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at material level. An increasing number researchers are interested in designing, manufacturing, modeling, control. However, dynamic simulation soft is difficult infinite degrees freedom nonlinear characteristics that associated materi...

In this paper we study the problem of manipulating and transporting multiple objects on the plane using a cable attached at each end to a mobile robot. This problem is motivated by the use of boats with booms in skimming operations for cleaning oil spills or removing debris on the surface of the water. The goal in this paper is to automate the task of separating the objects of interest from a c...

We propose a new approach for the reliable 6dimensional quasi-static manipulation of an aerial towed-cable system. The novelty of this approach lies in the combination of results deriving from the static analysis of cable-driven manipulators with the application of a cost-based motion-planning algorithm to solve manipulation queries. Using this approach, we can ensure that the produced paths ar...

Cable-driven parallel robots are mechanisms that control the position and attitude of an object using multiple cables. Typical cable-driven have been studied for use on land, but not in water. This is because motion analysis become difficult underwater due to large deformation cables caused by fluid forces. In this paper, we propose robot consisting on-water derive a dynamics model considers ca...

Abstract. Cable-driven parallel robots are a type of manipulators where rigid links replaced by actuated cables. Although in many cases dynamic models that neglect the cables mass and elasticity employed to simulate robot behavior test control approach be used, there several situations which their effect cannot disregarded, especially when large span cable density generates important sagging. T...

This paper presents a consistent solution strategy for static equilibrium workspaces of different types under-constrained robots. Considering the constraint conditions cable force and taking least squares error equation as objective, convex optimization is carried out, working space system obtained. A applied to solve cable-driven parallel planar hybrid The dynamic models are presented introduc...