Cable interference in cable-driven mechanisms (CDM) is a major challenge in their applications. The wrench closure workspace (WCW) in a fully constrained mechanism may not be realized unless cable interference is considered. This paper classifies all possible types of cable interferences for planar cable-driven mechanisms and presents an analytical solution to find the boundaries of the constan...

Cable-Driven Parallel Robots (CDPRs) use cables arranged in a parallel fashion to manipulate an end-effector (EE). They are functionally similar several cranes that automatically collaborate handling shared payload. Thus, CDPRs share types of equipment with cranes, such as winches, hoists, and pulleys. On the other hand, since rely on model-based automatic controllers for their operations, stan...

Cable-driven parallel robot (CDPR) has the great potential for various applications in industry and everyday life. They consist of an end effector a base, which connected by several cables. CDPRs have large workspace compared to classic robots. CDPR simpler structure good dynamic properties, high carrying capacity, mobility low cost. The only drawback is that cables can work retraction cannot p...

Abstract Kinematic analysis of under-constrained cable-driven parallel robots (CDPR) has been a topic interest because the inherent coupling between loop-closure and static equilibrium equations. The non-linearity problem is magnified with addition cable lengths their tensions based on elastic model. paper proposes an unsupervised neural network algorithm to perform real-time forward geometrico...

Abstract Cable‐driven parallel robots (CDPRs) are in which cables used instead of rigid connecting elements. An important task here, as other areas robotics, kinematic calculations. The state the CDPR can be described either Cartesian workspace coordinates a pose or joint space via cable lengths. calculation lengths from given platform is relatively simple for CDPRs. In contrast, forward kinema...

The current pandemic has highlighted the need for rapid construction of structures to treat patients and ensure manufacturing health care products such as vaccines. In order achieve this, transportation materials from staging area deposition is needed. future, this could be achieved through automated sites that make use robots. Toward in paper a cable driven parallel manipulator (CDPM) designed...

Cable-suspended robots and haptics interfaces are appealing because of their structural simplicity, high stiffness, and high exerted wrench-to-weight ratio. A major drawback is that cables cannot push but can only exert tension. Therefore, actuation redundancy is required; even so, certain configurations and wrenches will fail since they would require one or more cables to push. The objective o...

Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has been proposed, and a velocity controlled DC motor has been used as its power source. Based on this, the model of the cable-driven SEA has been built up. Fur...