Abstract. This study proposes a haptic interactive robot (HIR) configuration and control strategy based on cable-driven parallel mechanism. The ball screw drives the cable to improve motion accuracy. system improves accuracy stability of interaction. Through optimization design analysis, eight cables are used ensure that end effector exerts force enables motion. Moreover, forward inverse kinema...

In this paper, we study the design and workspace of a 6–6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the moving platform can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing the variations of the workspace v...

− In this paper, we study the design and workspace of a 6-6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the MP (MP) can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing the variations of the workspace volume ...

This paper investigates the force sensitivity of 6-DOF cable-driven parallel robots (CDPRs) in order to propose a better measurement device. Kinematics and dynamics for CDPR n-DOF are deduced formulated, algorithms calculating cable tension developed. Then, by defining geometrical parameters related dimensions configurations CDPRs, optimal methods determining with respect structure matrix twist...

Abstract Rehabilitation robots can help physiatrists to assist patients in improving their movement ability. Due the interaction between rehabilitation and patients, need complete training on a safe basis. This paper presents an approach for smooth trajectory planning cable-driven parallel waist robot (CDPWRR) based evaluation factors. First, motion capture technology is used collect data of se...

In this paper, we investigate a design method for cable-driven snake arm maintainer (SAM) and its dynamics modelling. A SAM can provide redundant degrees of freedom high structural stiffness, as well load capacity simplified structure ideal various narrow extreme working environments, such nuclear power plants. However, their serial-parallel configuration cable drive system make the strongly co...