The optimal design and the experimental validation of a cable-driven parallel robot is discussed in this paper. This novel device intended for assisting therapists rehabilitation head–neck joint. First, motion joint was recorded by means Qualisys motion-capture system. collected data then analyzed order to obtain range head identify some prescribed trajectories. A end-effector proposed reduce d...

Abstract Cable-driven hyper-redundant robots have been adopted in many fields for accessing harsh and confined environments that maybe inaccessible or dangerous humans. The cable actuation strategy makes the robot hardware safer increases payload reducing its weight. In this paper, a novel design of fully actuated cable-driven has proposed. This solution is pulleyless decreases mechanical compl...

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

This paper presents a consistent solution strategy for static equilibrium workspaces of different types under-constrained robots. Considering the constraint conditions cable force and taking least squares error equation as objective, convex optimization is carried out, working space system obtained. A applied to solve cable-driven parallel planar hybrid The dynamic models are presented introduc...

This paper presents a new geometry-based method to determine if a cable-driven robot operating in a d-degree-of-freedom workspace (2 ≤ d ≤ 6) with n ≥ d cables can generate a given set of wrenches in a given pose, considering acceptable minimum and maximum tensions in the cables. To this end, the fundamental nature of the Available Wrench Set is studied. The latter concept, defined here, is clo...