Configuration Selection and Parameter Optimization of Redundantly Actuated Cable-driven Parallel Robots

Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots

In this paper, the authors study the kinematic isotropic configuration of spatial cable-driven parallel robots by means of four different methods, namely, (i) symbolic method, (ii) geometric workspace, (iii) numerical workspace and global tension index (GTI), and (iv) numerical approach. The authors apply the mentioned techniques to two types of spatial cable-driven parallel manipulators to obt...

Static performance improvement of an industrial robot by means of a cable-driven redundantly actuated system

Every industrial robot has a specific kinematics, which often results in anisotropic performance within its workspace in terms of force and velocity. A cable-driven system can be used to improve the force manipulability of a robot by introducing an actuation redundancy. Such system acts directly on the robot end-effector increasing its flexibility of use in applications where a higher and more ...

Kinematic Calibration for Redundantly Actuated Parallel Mechanisms

We present a new kinematic calibration algorithm for redundantly actuated parallel mechanisms, and illustrate the algorithm with a case study of a planar seven-element 2-degree-of-freedom (DOF) mechanism with three actuators. To calibrate a nonredundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism’s kinematic structu...

Geometrico-static Analysis of Under-constrained Cable-driven Parallel Robots

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...

Modeling, Simulation and Control of Redundantly Actuated Parallel Manipulators