This paper studies the kinematics and statics of cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, together with a general procedure aimed at effectively solving, in analytical form, the inverse and direct position problems. The stability of equilibrium is assessed within the framework of a constrained optimization problem, fo...

In this papel; a novel spatial three degree-offreedom, that are two degrees of translational freedom and one degree of orientational freedom, parallel manipulator is proposed. The parallel manipulator consists of a base plate, a movable platform, and three non-identical connecting legs. The kinematics problems and velocity equation of the new parallel manipulator are given. Three kincis of sing...

∗ Corresponding author, Phone: (716) 645-1430, Fax: (716) 645-3668, Email: [email protected]. ABSTRACT Cable-actuated parallel manipulators combine benefits of large workspaces, significant payload capacities and high stiffness by virtue of the cable actuation. However, redundant/surplus cables are required to overcome the unidirectional nature of forces exertable by cables. This leads to ...

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...

Cable-suspended parallel robot (CPR), in which cables are utilized to replace links to manipulate objects, is developed from parallel and serial cable-driven robot. Compared with the parallel robot, this kind of robot has more advantages. The cooperative variation of lengths of six cables pulls the feed cabin to track radio source with six degrees of freedom (DOFs). Similar to a parallel robot,...

In this paper, some definitions and traditional formulas for calculating the mobility of mechanisms are represented, e.g. Grubler formula, Somov - Malyshev formula, and Buchsbaum - Freudenstei. It is discussed that there are certain cases in which they are too ambiguous and incorrect to use. However, a matrix method is suggested based on the rank of the Jacobian of the mechanism and its applica...

A spherical parallel manipulator (also called an orientational parallel manipulator or rotational parallel manipulator) refers to a threedegree-of-freedom (3-DoF) parallel manipulator in which the moving platform undergoes a 3-DoF spherical motion or rotates about a fixed point. In this paper, we propose a new method for the type synthesis of non-overconstrained (isostatic) spherical parallel m...

Dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. Since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. Hence, importance of the efficiency of the algorithm and the CPU time of the workspace computatio...

The large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. Most of this computational burden is due to calculation of switching points. In this paper a learning algorithm is proposed for finding the switching points. The method, which can be used for both ...