this paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (smc) which is faced to external disturbances and parametric uncertainties. this control algorithm is based on lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. the main contribution of the paper is to calculat...

in this paper coupled nonlinear equations of motion of a suspended cable with time dependent tension and velocity are derived by using hamilton’s principal. a modal analysis for a stationary sagged cable is initially carried out in order to identify the dynamic system. the natural solution is directed to compute the natural frequencies and mode shapes of the free vibration of a suspended cable....

Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and app...

The purpose of this paper is to examine factors driving developers to consider software factories and to scrutinize challenges to employing this methodology. The greatest attraction of the software factory approach is its logically sound conceptual framework covering the whole development process, from beginning to end. The greatest challenge to the successful utilization of this approach is it...

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...

A method for robotized cable winding of the Uppsala University Wave Energy Converter generator stator has previously been presented and validated. The purpose of this study is to present and validate further developments to the method: automated stand-alone equipment for the preparation of the winding cables. The cable preparation consists of three parts: feeding the cable from a drum, forming ...

The cable equation describes the voltage in a straight cylindrical cable, and this model has been employed to model electrical potential in dendrites and axons. However, sometimes this equation might give incorrect predictions for some realistic geometries, in particular when the radius of the cable changes significantly. Cables with a nonconstant radius are important for some phenomena, for ex...

In this paper, we argue for the incorporation of architecture analysis techniques in Software Factories. While software factories often rely on a domain-specific (or product-line specific) architecture, frequently there are some architectural alternatives left open. In these situations, architectural analysis, static or dynamic is essential. The paper elaborates these concepts and shows an exam...

The nearly 21-year-old Jiujiang Bridge, which is suffering from uneven line shape, constant great downwarping of the main beam and cracking of the box girder, needs reinforcement and cable adjustment. It has undergone cable adjustment for twice with incomplete data. Therefore, the initial internal force state of the Jiujiang Bridge is identified as the key for the cable adjustment project. Base...