This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipulator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The novelty of kinematic architecture and the closed loop formulation is presented. The workspace model of mechanism’s dynamic is obtained in an efficient and compact for...

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 presents design and kinematic analysis for a cable-driven parallel robotic (CDPR) manipulator with four cables, The CDPR manipulator produces a planar motion including two translational and one rotational degrees of freedom. To move the end-effector of CDPR, its kinematic structure is analyzed and the inverse kinematics is formulated in the closed-form solution. The experimental test...

This work presents the status of running project (2007–2010). The new nine degrees of freedom cable driven robot has been developed. Main parts: the mechanical design of parallel manipulator and the heart of control system have been presented. The preliminary tests of the prototype application have been performed. As the final result of the project, a robotic cable driven crane will be develope...

The design, dynamic modelling, and workspace are presented in this paper concerning cooperative cable parallel manipulators for multiple mobile cranes (CPMMCs). The CPMMCs can handle complex tasks that are more difficult or even impossible for a single mobile crane. Kinematics and dynamics of the CPMMCs are studied on the basis of geometric methodology and dʹAlembert’s pr...

The design and analysis of a 4-DOF multi-link cable driven parallel mechanism is presented. In contrast to many existing cable driven parallel mechanism, the proposed manipulator’s rigid links are serially articulated. This design preserves the advantages associated with cabledriven parallel mechanisms, and introduces the advantages in having a serial kinematic structure. The kinematic and kine...

Workspace quality analysis and application for a completely restrained 3-Dof planar cable-driven parallel manipulator Xiaoqiang Tang, Lewei Tang, Jinsong Wang and Dengfeng Sun The State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China School of Aeronautics and Astronautics Engineering, Purdue University, West Lafayette, IN 47907-2045...

in this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. this mechanism has two rotational and one translational degree of freedom. kinematics and jacobian analysis are investigated. moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in matlab software. because of decreasing moving elements, it i...