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...

A novel servomotor design that is powered and controlled through only one wire is presented in this paper. A traditional servomotor needs both a power cable and a control cable connecting the motor to a control amplifier. Cables are bulky, heavy, and expensive and, more importantly, difficult to install and maintain in many applications. Particularly for multi-axis applications, like robots and...

Non Linear State Estimation of a Multi Axis Surgical Robot Srikrishnan Ramadurai Chair of the Supervisory Committee: Professor Blake Hannaford Electrical Engineering Minimally invasive surgical robots often have cable driven power transmission mechanisms. An example is the RAVEN surgical robot developed at the Biorobotics Laboratory, University of Washington for research on robotic surgery. The...

This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where accuracy can be obtained through contacts. includes majority pick-and-place operations. Knowledge about task is directly taken into account when specifying execution. The natural dynamics system exploited there tolerance position tr...

In our previous paper [1], we examined enhancing manipulation capabilities of cable robots by addition of base mobility to the spooling-winches. Base mobility facilitated the regulation of the tension-direction (via active repositioning of the mobile bases) and allowed for better conditioning of the wrench feasible workspace. In this paper, we explore design-modifications on the attachment to t...

We present hardware results of a planar, translational cabledirect-driven robot (CDDR). The motivation behind this work was to present kinematics and statics modeling of the CDDR along with the method to maintain positive cable tension and implement them on CDDR hardware for experimental verification. Only translational CDDR is considered in this article; we attempt to keep zero orientation by ...