This paper outlines the current state of the virtual prototyping program using ADAMS under development at GreyPilgrim Incorporated. This program is being developed in order to provide analysis in the mechanical design of cable driven hyperredundant flexible manipulators, referred to as EMMAs (Easily Manipulated Mechanical Arms). A diagram of a typical EMMA manipulator can be seen in Figure 1 be...

Kinematics and dynamics of cable-driven parallel robots are affected by the cables used as force and motion transmitting elements. Flexural rigidity of these cables is of major interest to better understand dynamics of these systems and to improve their accuracy. The approach for modeling spatial cable dynamics, as presented in this paper, is based on the modified rigid-finite element method us...

This paper reports on the development of a lightweight hyper-redundant manipulator driven by embedded dielectric polymer actuators. This manipulator uses binary actuation and belongs to a class of digital mechanisms that are able to perform precise discrete motions without the need for sensing and feedback control. The system is built from an assembly of modular parallel stages and has potentia...

Cable Driven Parallel Robots (CDPRs) are parallel robots, in which the limbs replaced by cables that guided pulleys. In many papers, pulleys considered as fixed points of passage and cable elasticity is neglected. Those approximations simplify robot modelling, but lead to some Moving-Platform (MP) pose errors. This paper deals with modelling suspended three degree-of-freedom CDPRs considering g...

in this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. this mechanism has two rotational and one translational degree of freedom. kinematics and jacobian analysis are investigated. moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in matlab software. because of decreasing moving elements, it i...

Parallel manipulators feature relatively high payload and accuracy capabilities compared to their serial counterparts. However, they suffer from small workspace and low maneuverability. Kinematic redundancy for parallel manipulators can improve both of these characteristics. This paper presents a family of new kinematically redundant planar parallel manipulators with six actuated-joint degrees ...

............................................................................................................................. iii Acknowledgements............................................................................................................ iv List of Figures and Tables.................................................................................................. ix

in this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. this approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effec...