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Computing Cross-Sections of the Workspace of Suspended Cable-Driven Parallel Robot with Sagging Cables Having Tension Limitations

J -P. Merlet
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Although workspace is essential for the design and control of cable-driven parallel robots (CDPR) very few works have been devoted to this topic when sagging cables are considered, most probably because  ...  the branch of the inverse kinematics on which the robot is evolving.  ...  We consider here a variant of parallel robots, namely cable-driven parallel robots (CDPR) in which the rigid legs of parallel robots are substituted by coilable/uncoilable cables.  ... 
doi:10.1109/iros.2018.8594321 dblp:conf/iros/Merlet18 fatcat:ef62x22hlfhk7ocakaamvdv2bi

Geometry Selection of a Redundantly Actuated Cable-Suspended Parallel Robot

Marc Gouttefarde, Jean-Francois Collard, Nicolas Riehl, Cedric Baradat
2015 IEEE Transactions on robotics  
Cable-suspended refers here to cable-driven parallel robots in a crane-like setting where all the cable drawing points are located on top of the base frame, gravity being used to keep the cables taut.  ...  This paper is dedicated to the geometry selection of a redundantly actuated cable-suspended parallel robot intended to manipulate heavy payloads over a wide workspace.  ...  The influences of some geometric parameters on the static workspace and on the global condition index of such 6-6 cable-suspended parallel robots are studied in [21] .  ... 
doi:10.1109/tro.2015.2400253 fatcat:p3v4ybxqjnfcbaoepc3ei3cbny

Cable-Driven Parallel Robots, theoretical challenges and industrial applications

Edoardo Ida, Marco Carricato
2020 Zenodo  
This paper analyzes some of the theoretical and industrial challenges arising in the study of Cable-Driven Parallel Robots, and the solutions proposed by the University of Bologna.  ...  INTRODUCTION Cable-Driven Parallel Robots (CDPRs) form a class of parallel robots, introduced in the 80', which employ cables in place of rigid-body extensible legs in order to control the end-effector  ...  Fig. 2 : 2 Suspended under-constrained cable-driven robot DOI:10.5281/zenodo.4781500 Fig. 3 : 3 Cable-driven laser scanner prototype Fig. 4 : 4 Demonstration of a panel installation with a CDPR  ... 
doi:10.5281/zenodo.4781499 fatcat:mdnzb6dhxvdtzgi273653ny2be

Modelling, Design and Control of Cable Driven Parallel Robot

Edoardo Ida, Marco Carricato
2019 Zenodo  
This paper aims at introducing Cable-Driven Parallel Robot (CDPR) technology and the research conducted at University of Bologna in the field of modelling, design and control of this class of manipulators  ...  Fig. 2 . 2 Suspended under-constrained cable-driven robot DOI: 10.5281/zenodo.4795271 Fig. 3 . 3 Reconfigurable Fig. 4 . 4 Cable-driven laser scanner prototype  ...  Redundantly constrained cable-driven robot cables from becoming slack due to the action of external forces [2] (Fig. 1 ).  ... 
doi:10.5281/zenodo.4795271 fatcat:kox72ecpmfcjjle4xyqfsbgw3m

Design and workspace analysis of a 6–6 cable-suspended parallel robot

Jason Pusey, Abbas Fattah, Sunil Agrawal, Elena Messina
2004 Mechanism and Machine Theory  
This paper focuses on a particular type of parallel robot, namely the cable suspended parallel robot. Traditional parallel robots are driven by prismatic actuators.  ...  In this paper, we study the design and workspace of a 6-6 cable-suspended parallel robot.  ...  Acknowledgements We acknowledge research support of National Science Foundation Presidential Faculty Fellow Grant and Individual investigator grant IIS-0117733.  ... 
doi:10.1016/j.mechmachtheory.2004.02.010 fatcat:whmtydzuend6biav2y4rs55o5i

Addition of passive-carriage for increasing workspace of cable robots: automated inspection of surfaces of civil infrastructures

Guillermo Rubio-Gomez, Sergio Juárez, David Rodríguez-Rosa, Enrique Bravo, Erika Ottaviano, Antonio Gonzalez-Rodriguez, Fernando J. Castillo-Garcia
2021 Zenodo  
Cable-driven suspended robots present limited workspace due to the elevated torque requirements for the higher part of the workspace.  ...  Cable-driven robots are parallel manipulators in which rigid links are replaced by actuated cables.  ...  Authors wish to thank the financial Support provided by the university of Castilla-La Mancha and the European Social F und through the pre-doctoral funding [2019/451].  ... 
doi:10.5281/zenodo.6757071 fatcat:uewp56q5ujgfzkghwhruozn4wq

Workspace Analysis Of 6–6 Cable-Suspended Parallel Robots

Arian Bahrami, Amir Teimourian
2016 Zenodo  
In this paper, the effect of the moving platform size on the workspace volume of 6–6 cable-suspended parallel robots is investigated in details for different geometric configurations and orientations of  ...  The obtained hints can be used as a rule of thumb in designing this type of robot.  ...  true effect of the MP size on the average workspace volume including non-zero orientations of a 6-6 cable-suspended parallel robot.  ... 
doi:10.5281/zenodo.1128264 fatcat:ntj6oie6t5hxrnpa2syermm7ry

Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015

Philipp Tempel, Fabian Schnelle, Andreas Pott, Peter Eberhard
2015 Machines  
In the German Pavilion at the EXPO 2015, two large cable-driven parallel robots are flying over the heads of the visitors representing two bees flying over Germany and displaying everyday life in Germany  ...  Each robot consists of a mobile platform and eight cables suspended by winches and follows a desired trajectory, which needs to be computed in advance taking technical limitations, safety considerations  ...  We also want to thank Milla & Partner for their invitation of being part of the EXPO team,  ... 
doi:10.3390/machines3030223 fatcat:m2ubhuz6qrdwfcrwuorw46givy

The methodology for developing the kinematic model of selected CPR-a system as a necessity for the development of a dynamic model

Filipovic Mirjana, Djuric Ana, Kevac Ljubinko
2013 Istrazivanja i projektovanja za privredu  
Original Scientifi c Paper The authentic form or general form of Cable Suspended Parallel Robot type A, CPR-A mathematical model is defi ned.  ...  forces (acting on a camera carrier) over the Jacobian matrix on motion dynamics of each motor.  ...  Cable suspended parallel robot is analyzed in [35] , in which cables are utilized to replace links to manipulate objects. It is developed from parallel and serial cable-driven robot.  ... 
doi:10.5937/jaes11-4581 fatcat:emf7gc4byjaplikjstf5pre5ea

Cable-driven parallel mechanisms: state of the art and perspectives

Clément GOSSELIN
2014 Mechanical Engineering Reviews  
as cable-suspended parallel mechanisms (CSPMs).  ...  Cable-suspended parallel mechanisms are characterized by the use of gravity -the weight of the platform -to maintain the cables in tension.  ... 
doi:10.1299/mer.2014dsm0004 fatcat:fl7f74iqw5al3nzgv642xof2sq

A Review on Cable-driven Parallel Robots

Sen Qian, Bin Zi, Wei-Wei Shang, Qing-Song Xu
2018 Chinese Journal of Mechanical Engineering  
Cable-driven parallel robots (CDPRs) are categorized as a type of parallel manipulators. In CDPRs, flexible cables are used to take the place of rigid links.  ...  The particular property of cables provides CDPRs several advantages, including larger workspaces, higher payload-to-weight ratio and lower manufacturing costs rather than rigid-link robots.  ...  Introduction Cable-driven parallel robots (CDPRs) are known as a type of parallel robots.  ... 
doi:10.1186/s10033-018-0267-9 fatcat:sgx77sh3nndc7cqbymbnc36bcm

On the determination of cable characteristics for large dimension cable-driven parallel mechanisms

Nicolas Riehl, Marc Gouttefarde, Cédric Baradat, François Pierrot
2010 2010 IEEE International Conference on Robotics and Automation  
Generally, the cables of a parallel cable-driven robot are considered to be massless and inextensible.  ...  Applied to a large dimension robot, taking cable mass into account is proved to be necessary in comparison with an equivalent method based on the massless cable modeling.  ...  INTRODUCTION Parallel cable-driven robots consist mainly of a moving platform actuated by cables.  ... 
doi:10.1109/robot.2010.5509887 dblp:conf/icra/RiehlGBP10 fatcat:xyucdhqxdfgapanra4nwa2gqxu

Wire-driven Parallel Robot: Open Issues [chapter]

Jean-Pierre Merlet
2013 Romansy 19 – Robot Design, Dynamics and Control  
Wire-driven parallel robot (WDPR) is a special class of parallel robot in which the rigid legs are replaced by wires, with potential advantages in terms of intrusivity and workspace.  ...  Although the study of WDPR seems to be a well-addressed subject, we will show that there are still numerous challenging open issues in this field.  ...  Wire-driven parallel robots Wire-driven parallel robot (WDPR) is a special class of parallel robot in which the rigid legs are replaced by wires.  ... 
doi:10.1007/978-3-7091-1379-0_1 fatcat:6q4yn7vjangb5axzvgknllzs7e

Cable-suspended CPR-D type parallel robot

Mirjana Filipovic, Ana Djuric
2016 Journal of Theoretical and Applied Mechanics  
This paper deals with the analysis and synthesis of a newly selected Cable-suspended Parallel Robot configuration, named CPR-D system. The camera carrier workspace has the shape of a parallelepiped.  ...  Because of the CPR-D system complexity, the Lagrange principle of virtual work has been adapted. Two significant Examples have been used for the CPR-D system analysis and validation.  ...  "Ambientally intelligent service robots of anthropomorphic characteristics", by Mihajlo Pupin Institute, University of Belgrade, Serbia, and partially supported by the project SNSF Care-robotics project  ... 
doi:10.15632/jtam-pl.54.2.645 fatcat:ehnfmhzbzrfmtnrvrgswohqknm

Kinematic and Dynamic Modeling and Workspace Analysis of a Suspended Cable-Driven Parallel Robot for Schönflies Motions

Ruobing Wang, Yanlin Xie, Xigang Chen, Yangmin Li
2022 Machines  
In recent years, cable-driven parallel robots (CDPRs) have drawn more and more attention due to the properties of large workspace, large payload capacity, and ease of reconfiguration.  ...  Based on the dynamic equation, the dynamic feasible workspace of the robot is determined under different values of accelerations.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/machines10060451 fatcat:xhb44t5ugfaltnm5t4krf5n3ay
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