Experimental results indicate that time invariant linear elastic models for cable-driven parallel robots show a significant error in the force prediction during operation. This paper proposes the use of an extended model for polymer cables which allows to regard the hysteresis effects depending on the excitation amplitude, frequency, and initial tension level. The experimental design as well as...

In this paper we discuss how a network of sensors and robots can cooperate to solve important robotics problems such as localization and navigation. We use a robot to localize sensor nodes, and we then use these localized nodes to navigate robots and humans through the sensorized space. We explore these novel ideas with results from two large-scale sensor network and robot experiments involving...

In this paper we discuss how a network of sensors and robots can cooperate to solve important robotics problems such as localization and navigation. We use a robot to localize sensor nodes, and we then use these localized nodes to navigate robots and humans through the sensorized space. We explore these novel ideas with results from two large-scale sensor network and robot experiments involving...

Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. Amongst those, cable-driven robots (CDRRs) are relatively newer their control strategies have evolving in recent years. CDRRs offer several promising features, such as low inertia, lightweight, high payload-to-weight ratio, large work-space configurability. In this paper, we cat...

Abstract Cable-driven hyper-redundant robots have been adopted in many fields for accessing harsh and confined environments that maybe inaccessible or dangerous humans. The cable actuation strategy makes the robot hardware safer increases payload reducing its weight. In this paper, a novel design of fully actuated cable-driven has proposed. This solution is pulleyless decreases mechanical compl...

damping of a full-scale cable with a pair of passive–on magnetorheological (mr) dampers was tested. a cable of 215.58m long with the first mode frequency of 0.658hz was tensioned horizontally in cable prefabrication factory. two mr dampers were attached to the cable in an angle in the plane perpendicularly to the cable axis in 5m length from the cable anchorage. the applied voltage level was 0v...

In present work a development of the passive approach is made to design of human oriented robots. Model of robots with controllable compliance modules on the base and cable transmissions is developed that creates a natural security in the interaction with human. In the paper computer model of 4R robot is developed and simulated using Solid Dynamics 2004+ program software. Computer simulations o...