In real-time hybrid model testing, complex ocean structures are emulated by fusing numerical modelling with traditional hydrodynamic testing. This is done partitioning the structure under consideration into a and physical substructure, coupled in real time via measurement control interface. The numerically computed load vector applied to substructure means of multiple actuated winches so that r...

We are considering cable-driven parallel robot (CDPR), where the legs of constituted cables that can be independently coiled/uncoiled. show whatever size CDPR is we may have slack so using a sagging cable model takes into account both mass and elasticity will improve positioning accuracy. Being able to solve inverse direct kinematics (IK/DK) with crucial for kinematic analysis while being quite...

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...

Abstract Cable-driven parallel robots (CDPRs) offer high payload capacities, large translational workspace, and dynamics performances. Their rotational workspace is generally far more limited, however, which can be resolved using cable loops, as was shown in previous research. In the case of fully constrained CDPRs, loops induce unwanted torques on moving-platform (MP), causing it to tilt move ...

A hybrid cable-driven parallel robot (CDPR) is being developed that expands the capabilities of conventional CDPRs by replacing one cables with a linear actuator can be spooled and extended. This uses three curved leaf springs connected using magnetic strips to provide compressive or tensile forces while very compactly stored, kinematically similar cable push. When used in conjunction suspended...

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...

A steady-state dynamic model of a cable in air is put forward by using some tensor relations. For the dynamic motion of a long-span Cable-Driven Parallel Robot CDPR system, a driven cable deployment and retrieval mathematical model of CDPR is developed by employing lumped mass method. The effects of cable mass are taken into account. The boundary condition of cable and initial values of equatio...

Cable-driven parallel robots (CDPRs) have the potential of being go-to rapidly deployable and reconfigurable robots. This is because cables are used instead rigid links thus overall robot architecture can consist only four masts, eight motors very long actuating moving-platform. paper introduces a large CDPR called ROCASPECT. Its accuracy repeatability been evaluated according to ISO 9283:1998....

We present two path planning algorithms for mobile robots that are connected by cable to a fixed base. Our algorithms efficiently compute the shortest path and control strategy that lead the robot to the target location considering cable length and obstacle interactions. First, we focus on cable-obstacle collisions. We introduce and formally analyze algorithms that build and search an overlappe...

One of the most challenging issues in adaptive control robot manipulators with kinematic uncertainties is requirement inverse Jacobian matrix regressor form. This inevitable case parallel robots, whose dynamic equations are written directly task space. In this paper, an controller designed for robots based on representation form, such that asymptotic trajectory tracking ensured. The main idea s...