Cable suspended robots support a moving platform (MP) in space by several spatially arranged cables with computer-controlled winches. The winches are mounted on base platform (BP). Compared to conventional robots, it is possible to control not only the translational motion of the payload but also its orientation in order to perform, for example, loads handling. By this, cable suspended robots c...

The NIST RoboCrane is a cable-suspended robot with the potential to reduce the disadvantages of conventional cranes. One weakness of the RoboCrane is the need for at least three fixed rigid support points for the six overhead cable connections. In many potential applications, these rigid support points are simply not available. This article presents a new RoboCrane support concept based on rigi...

The level adjustment of cable-driven parallel mechanism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of uncertainties exist in the adjustment process. This paper presents application of an adaptive control scheme for a cable suspended robot to handle uncertainties in mass and moments of inertia of end effecter. In section I...

A simple, under-actuated robotic winch, called the “Winch-Bot,” is developed for surface inspection of a large object. The Winch-Bot, placed over an object surface, has only one actuator for tracing a free geometric path in a vertical plane. The cable length is controlled in relation to the direction of the cable so that the inspection end-effecter hanging at the tip of the cable can follow the...

Cable-suspended parallel robot (CPR), in which cables are utilized to replace links to manipulate objects, is developed from parallel and serial cable-driven robot. Compared with the parallel robot, this kind of robot has more advantages. The cooperative variation of lengths of six cables pulls the feed cabin to track radio source with six degrees of freedom (DOFs). Similar to a parallel robot,...

This paper presents a new cable-suspended robot. It is a 7-cable spatial design with a closed-form forward pose kinematics solution. Applications include automated machining, construction, and sculpting. This paper presents two new ideas. First, an independent, passive, sixstring-pot-based Cartesian metrology system was built and tested since length measurements through the active drive system ...

Cable-driven parallel robot (CDPR) are parallel robots that use coilable cables as legs. We are interested here in suspended CDPR for which there is no cable that exert a downward force on the platform. If we assume that the cables are mass-less and not elastic it has been shown that at a given pose whatever is the number m > 6 of cables there will always be at most 6 cables under tension simul...

We present the control in physical interaction with environment of a Cable-suspended Aerial Multi-Robot Manipulator (CS-AMRM) called Fly-Crane , composed three aerial vehicles towed to platform by means six cables. The strategy enables system accurately and safely perform tasks involving expect...

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...

This paper deals with human-cable collision detection a Cable-Driven Parallel Robot (CDPR) and control strategy to safely release the tension in cable contact human operator. The main purpose of this work is contribute development safety solutions allowing collaborative between robot CDPRs production tasks. Using geometric model deformations under an external collision, direct relationship esta...