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...

Lower limb exoskeleton robots help with walking movements through mechanical force, by identifying the wearer’s intention. When robot is lightweight and comfortable to wear, stability of increases, energy can be used efficiently. However, because it difficult implement complex anatomical human body, most are designed simply. Due this, misalignment between movement causes wearer feel uncomfortab...

In present work a development of the passive approach is made to design of human oriented robots. Model of robots with controllable compliance modules on the base and cable transmissions is developed that creates a natural security in the interaction with human. In the paper computer model of 4R robot is developed and simulated using Solid Dynamics 2004+ program software. Computer simulations o...

This paper investigates and presents a cable-driven robot to lower limb rehabilitation use in sagittal plane. The presented rehabilitation robot is used for a trajectory tracking in joint space. The paper covers kinematic and dynamic analysis, which reveals the tensionability of the used cables as being the actuating source to provide a rehabilitation exercises of the human leg. The desired tra...

Power transmission line inspection is of utmost importance for power companies towards having sustainable electricity supply to vast number of customers in major industries as well as households in a city. Inspection provides valuable data from status of the line, thus helps line engineers to plan for necessary repair or replacement works before any major damages which may result in outage. Con...

Abstract: This paper introduces a cable-suspended robot, the Vehicle Simulation System, designed for pilot and driver training. The main idea of this work is to make a system that will provide realistic simulations of vehicle motion using virtual reality and a motion platform. A method to produce inertial forces acting on the vehicle user is proposed. A detailed description of the robot’s dynam...