Known for their lower costs and numerous applications, cable robots are an attractive research field in robotic community. However, considering the fact that they require an accurate installation procedure and calibration routine, they have not yet found their true place in real-world applications. This paper aims to propose a new controller strategy that requires no meticulous calibration and ...

Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has been proposed, and a velocity controlled DC motor has been used as its power source. Based on this, the model of the cable-driven SEA has been built up. Fur...

The NIST RoboCrane is a cable-suspended robot with the potential to reduce the disadvantages of conventional cranes. One weakness of the RoboCrane is the need for at least three fixed rigid support points for the six overhead cable connections. In many potential applications, these rigid support points are simply not available. This article presents a new RoboCrane support concept based on rigi...

The following problem appears in robotics. A number of small, circular robots live in a common planar workspace. Each is attached by a exible cable of nite length to a point on the boundary of this workspace. Each robot has a target point in the workspace it must reach. When a robot has reached its target, its cable will have been dragged out into the workspace and possibly pushed and bent by o...

This work presents the status of running project (2007–2010). The new nine degrees of freedom cable driven robot has been developed. Main parts: the mechanical design of parallel manipulator and the heart of control system have been presented. The preliminary tests of the prototype application have been performed. As the final result of the project, a robotic cable driven crane will be develope...

The following problem appears in robotics. A number of small, circular robots live in a common planar workspace. Each is attached by a exible cable of nite length to a point on the boundary of this workspace. Each robot has a target point in the workspace it must reach. When a robot has reached its target, its cable will have been dragged out into the workspace and possibly pushed and bent by o...

This paper presents the development of an Intelligent Mini Robot Fingers by using the Shape Memory Alloy (SMA). Taking into consideration the advantages of the SMA, a prototype of mini robot fingers is developed which will be actuated by the SMA. The mini robot fingers has 4 fingers with 3 degrees of freedom (DOF) in each finger. Hence, 12 DOFs of robot fingers are developed to allow a greater ...

One of the primary duties in regular maintenance electrical distribution networks is cable stripping operation. In this paper, a unique robot proposed to overcome drawbacks conventional manual operation stripping, such as poor efficiency, low safety, and high labor intensity. This innovative cable-stripping made up rotating mechanism, gripping component, cutter feeding mechanism that can be adj...