Cable-Driven Parallel Robots
Proceedings of the 6th International Conference on Cable-Driven Parallel Robots
Article
This work presents a method of predicting the calibration accuracy of a 3-DoF, 2-cable, planar cable-driven parallel robot (CDPR). The calibration is realized with the combination of a laser displacement senso...
Chapter and Conference Paper
Cable-Driven Parallel Robots (CDPRs) are a type of robot that is growing in popularity for different kinds of applications. However, the use of cables instead of rigid links makes the modelling of this robot a...
Chapter and Conference Paper
In cable-driven parallel robots (CDPRs), each cable is typically driven by one actuator, and one is led to think that the number of actuators necessarily depends on the number of cables. In this paper, we cons...
Chapter and Conference Paper
A hybrid cable-driven parallel robot (CDPR) is being developed that expands the capabilities of conventional CDPRs by replacing one of the cables with a linear actuator that can be spooled and extended. This a...
Chapter and Conference Paper
Cable-driven parallel robots (CDPRs) have the potential of being the go-to rapidly deployable and reconfigurable robots. This is because cables are used instead of rigid links and thus the overall robot archit...
Chapter and Conference Paper
This paper presents an initial work of identifying the dynamic parameters for cable-driven parallel robot (CDPR), CRAFT with a rigorous protocol. An orbital trajectory of the platform is designed in order to get ...
Book and Conference Proceedings
Proceedings of the 6th International Conference on Cable-Driven Parallel Robots
Chapter and Conference Paper
Cable-Driven Parallel Robots (CDPRs) form a class of robots well-adapted to large workspaces since they replace rigid links by cables. However, they lack in positioning accuracy. In a previous work, a control ...
Article
Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-driven kinematic chains and parallel mechanism theory. It inherits the high dynamics and heavy load capacities of th...
Chapter and Conference Paper
This paper presents a simulation of the calibration of a 3-DoF, 2-cable, planar cable-driven parallel robot (CDPR). The calibration is realized with the combination of a laser displacement sensor and an inclin...
Chapter and Conference Paper
The subject of this paper is about the relationship between the stiffness and the transparency of Cable-Driven Parallel Robots (CDPRs) used as human-machine interfaces in object comanipulation tasks. An index ...
Chapter and Conference Paper
There is a growing attraction for robotic aerial systems in the academic world and in industry. Aerial Cable Towed Systems (ACTSs) are naturally subjected to various unknown external actions (wind, human, etc....
Chapter and Conference Paper
A calibration process simulation for the interest variable values, including Cartesian coordinates of exit points, moving platform poses and initial cable lengths is performed. The simulation considers the mod...
Chapter and Conference Paper
A novel workspace, called Control Stability Workspace (CSW), is proposed and analyzed in this paper. It is a workspace from the control perspective. It allows us to determine whether the closed-loop controller...
Chapter and Conference Paper
A novel criterion is introduced in this paper to determine the set of cable tensions for Cable-Driven Parallel Robots (CDPRs) with the aim of maximizing the robot stiffness along a specific direction. Based on...
Chapter and Conference Paper
The performance evaluation of Cable-Driven Parallel Robots in terms of accuracy, repeatability and long term capacities is a key for their industrial deployment. This paper presents and analyses corresponding ...
Chapter and Conference Paper
Forward Kinematic (FK) analysis of under-constrained Cable-Driven Parallel Robots (CDPRs) deals with the inherent coupling between the loop-closure and static equilibrium equations. The non-linearity of the pr...
Chapter and Conference Paper
Cable-Driven Parallel Robots (CDPRs) have been little used so far for collaborative tasks with humans. One reason is the lack of solutions to guarantee the safety of the operators in case of failure. Therefore...
Chapter and Conference Paper
This paper deals with the dynamic torsional stability problem of a family of partially-decoupled spherical parallel manipulators. The linearized equations of motion of the mechanical system are established to ...
Chapter
The subject of this paper is about the design, modeling, control and performance evaluation of a low cost and versatile robotic solution for logistics. The robot under study, named FASTKIT, is obtained from a ...