in this paper a performance analysis is presented for a cable-suspended parallel manipulator. experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. the load-carrying capacity during a given trajectory is obtained. this computational technique is tested on a typical planar cable suspended manipulator. the experim...

dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...

Abstract This paper mainly studies the tension characteristics of cables in Cable-Driven Parallel Mechanisms (CDPMs). The exact catenary model and cable based on Arbitrary Lagrangian Eulerian description (ALE) are used. First, ALE used to analyze compare at each point a single cable, which proves calculation accuracy model. Then, described by is Mechanisms, end effector enabled do specific heli...