As a new type of parallel manipulator, the wire-driven parallel manipulator has advantageous characteristics such as simple and reconfiguration structure, large workspace, high load capacity, high load/weight ratio, easy assembly/disassembly, high modularization, low cost and high speed. A new concept has been proposed by using the wire-driven parallel manipulator as aircraft model suspension s...

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperb...

Abstract Cable-driven parallel robots (CDPRs) offer high payload capacities, large translational workspace, and dynamics performances. Their rotational workspace is generally far more limited, however, which can be resolved using cable loops, as was shown in previous research. In the case of fully constrained CDPRs, loops induce unwanted torques on moving-platform (MP), causing it to tilt move ...

Cable-Driven Parallel Robots (CDPR) employ extendable cables to control the pose of an end-effector (EE). If number is smaller than degrees freedom EE, and have no special arrangement reducing EE freedoms, robot underactuated, underconstrained: as a consequence, preserves some freedoms even when all actuators are locked, which may lead undesirable free motions. This paper proposes novel methodo...

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...

In this paper, a kinematically redundant parallel haptic device with large workspace is presented. The haptic device has a similar kinematic structure to the well‐ known Delta manipulator. However, it has a special arrangement of actuators and one redundant actuator added to the third leg. The proposed haptic device has essentially 4‐DOF, however, only three tra...

Fault tolerance has become an essential capability in manipulator design methodologies as robotic manipulation systems are more frequently employed in hazardous environments and on geometrically complex or heavy duty industrial operations, where mechanical joint failures are likely to occur. This work focuses on the development of a redundant manipulator design methodology aimed at minimizing t...