This paper addresses the cable tension distributions of a cable-driven parallel robot with non-negligible cable mass for large dimension mechanisms. A well-known model which describes the profile of a cable under the action of its own weight allows us to take the cable sags into account. In addition, an approach to computing the cable tensions is presented, in which there are two major steps to...

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...

Cable-driven manipulators are traditionally designed for general performance objectives, such as maximisation of workspace. To take advantage of the reconfigurability of cable-driven mechanisms, the optimisation of cable-configurations for specific tasks is presented. Specifically, two types of task specific objectives are explored, the minimisation of cable forces over a desired trajectory and...

This paper presents the design, analysis, and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees-of-freedom in movement and flexible design. However, to t...

Traditional cable robots derive their manipulation capabilities using spooling winches at fixed base locations. In our previous work, we examined enhancing manipulation capabilities of cable robots by the addition of base mobility to spooling winches (allowing a group of mobile robots to cooperatively manipulate a payload using cables). Base mobility facilitated the regulation of the tension-di...

In order to control cable-driven parallel robots (CDPRs), it is necessary keep all cable tensions within (positive) known limits during motion. For CDPRs having more cables than end-effector degrees of freedom, a feasible force distribution should be computed beforehand. This paper aims at evaluating how tension error in one affects the overall other cables, by focusing on planar overconstraine...