workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

Workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

in this paper a performance analysis is presented for a cable-suspended parallel manipulator. experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. the load-carrying capacity during a given trajectory is obtained. this computational technique is tested on a typical planar cable suspended manipulator. the experim...

cable driven parallel manipulator (cdpm) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. it is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manipulating a long-span cdpm. these terms complicate governing equation of motion in a way that special tactic are applied for simu...

This paper deals with the kinetostatic model for a planar point mass cable-driven parallel manipulator when the cable elasticity and configuration have been fully taken into account. An exact model solution for the statics is obtained by consider elastic hefty cables. The proposed formulation allows considering specific behavior of cables for large dimensions cable-suspended robots in which the...

This paper focuses on the vibration control issue of a Flexibly Supported Parallel Manipulator (FSPM), which consists of a flexible support and a rigid parallel manipulator. The distinct characteristic of an FSPM is the dynamic coupling between the rigid and flexible parts, which challenges the vibration control implemented by the rigid parallel manipulator. The re...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

In this paper a performance analysis is presented for a cable-suspended parallel manipulator. Experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. The loadcarrying capacity during a given trajectory is obtained. This computational technique is tested on a typical planar cable suspended manipulator. The experime...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...