Cable-driven parallel robots are a special type of robot in which an end-effector is attached to fixed frame by means several cables. The position and orientation the can be controlled controlling length These present wide range advantages, control algorithms required have greater complexity than those traditional serial robots. Measuring cable tension important task this as many rely on inform...

N, Cable Driven Parallel Robots (CDPRs), the moving platform is connected to the base platform by a number of cables. CDPRs have several advantages compared to traditional serial or parallel robots. They have high ratio of payload to robot weight and a much larger workspace which make them appropriate for high speed applications [1], lifting heavy loads [2], camera positioning in sports stadium...

A planar cable-direct-driven robot (CDDR) architecture is introduced with only translational freedoms. The motivation behind this work is to improve the serious cable interference problem with existing CDDRs and to avoid configurations where negative cable tensions are required to exert general forces on the environment and during dynamic motions. These problems generally arise for rotational C...

Cable-based robots build upon mechanisms that not only use rigid links in their structures but also utilize unilateral force elements such as cables to deliver the desired motion. Cables may be either connected to active winches to provide a variable length and hence to actuate the mechanism or may be only to provide a kinematic constraint to eliminate an undesired motion of the endeffector. Ma...

We present the simulated dynamics and control of a planar, translational cable-direct-driven robot (CDDR). The motivation behind this work is to improve the serious cable interference problem with existing CDDRs and to avoid configurations where negative cable tensions are required to exert general forces and moments on the environment and during dynamic motions. Generally for CDDRs the command...

This paper presents an approach on stability analysis of cable-driven parallel robots (CDPRs) considering cable mass based tensions and stiffness matrix condition numbers. A model is introduced the effect mass. established model. Then, numbers are presented. Furthermore, CDPRs discussed. Numerical simulations show that better in center at top whole workspace than other places, which agrees well...

In this study, a new cable-driven rehabilitation robot is designed, the overall design of given, and kinematic equation lower limbs in supine state human body addressed. Considering that cable winders move along rail brackets, closed vector method applied to establish model robot, relationship between joint angle length change was deduced. compliance, fifth-order polynomial trajectory planning ...

In this paper modeling and control of cable driven redundant parallel manipulators with flexible cables, are studied in detail. Based on new results, in fully constrained cable robots, cables can be modeled as axial linear springs. Considering this assumption the system dynamics formulation is developed using Lagrange approach. Since in this class of robots, all the cables should remain in tens...