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...

The direct geometrico-static problem of cable-driven parallel robots with 5 cables is presented. The study provides procedures for the identification of all equilibrium poses of the end-effector when cable lengths are assigned. A leastdegree univariate polynomial in the ideal governing the problem is obtained, thus showing that the latter has 140 solutions in the complex field. By a continuatio...

This paper addresses the direct geometrico-static analysis of under-constrained cable-driven parallel robots with 3 cables. The task consists in finding all equilibrium configurations of the end-effector when the cable lengths are assigned. An interval-analysis-based procedure is proposed to numerically find the real solutions of the problem for a robot of generic geometry. Three equation sets ...

Cable-suspended robots and haptics interfaces are appealing because of their structural simplicity, high stiffness, and high exerted wrench-to-weight ratio. A major drawback is that cables cannot push but can only exert tension. Therefore, actuation redundancy is required; even so, certain configurations and wrenches will fail since they would require one or more cables to push. The objective o...

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...

The kinematic sensitivity has been recently proposed as a unit-consistent performance index to circumvent several shortcomings of some notorious indices such as dexterity. This paper presents a systematic interval approach for computing an index by which two important kinematic properties, namely feasible workspace and kinematic sensitivity, are blended into each other. The proposed index may b...

In this study, a new cable-driven rehabilitation robot is designed, the overall design of given, and kinematic equation lower limbs in supine state human body addressed. Considering that cable winders move along rail brackets, closed vector method applied to establish model robot, relationship between joint angle length change was deduced. compliance, fifth-order polynomial trajectory planning ...

Cable Driven Parallel Robots (CDPRs) are parallel robots, in which the limbs replaced by cables that guided pulleys. In many papers, pulleys considered as fixed points of passage and cable elasticity is neglected. Those approximations simplify robot modelling, but lead to some Moving-Platform (MP) pose errors. This paper deals with modelling suspended three degree-of-freedom CDPRs considering g...

Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currentl...

PLANAR CABLE-DIRECT-DRIVEN ROBOTS: DESIGN FOR WRENCH EXERTION Robert L. Williams II Department of Mechanical Engineering Ohio University Athens, Ohio Paolo Gallina Dipartimento di Innovazione Meccanica e Gestionale University of Padova Padova, Italy Journal of Intelligent and Robotic Systems Vol. 35, pp. 203-219 2002