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....

This paper deals with the kinetostatic model for a planar point mass cable-driven parallel manipulator when the cable elasticity and configuration have been fully taken into account. An exact model solution for the statics is obtained by consider elastic hefty cables. The proposed formulation allows considering specific behavior of cables for large dimensions cable-suspended robots in which the...

Abstract This work introduces the G-Fly-Crane, a proof-of-concept aerial multi-robot system designed to demonstrate advantage of using multiple robots as valuable tool for novel construction techniques, not requiring use heavy engines and costly infrastructures. We experimentally its capability perform pick-and-place manipulation tasks in scenario, with an increased payload capacity dexterity c...

– one of the important applications of robots is in material handling and transport of various shaped objects. in cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. this paper presents an analytical method for minimizing the oscillation of a suspended object during transport. this method...

– One of the important applications of robots is in material handling and transport of various shaped objects. In cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. This paper presents an analytical method for minimizing the oscillation of a suspended object during transport. This method...

This paper presents the bridge cable inspection robot developed in Korea. Two types of the cable inspection robots were developed for cable-suspension bridges and cable-stayed bridge. The design of the robot system and performance of the NDT techniques associated with the cable inspection robot are discussed. A review on recent advances in emerging robot-based inspection technologies for bridge...

– One of the important applications of robots is in material handling and transport of various shaped objects. In cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. This paper presents an analytical method for minimizing the oscillation of a suspended object during transport. This method...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

A hybrid cable-driven parallel robot (CDPR) is being developed that expands the capabilities of conventional CDPRs by replacing one cables with a linear actuator can be spooled and extended. This uses three curved leaf springs connected using magnetic strips to provide compressive or tensile forces while very compactly stored, kinematically similar cable push. When used in conjunction suspended...

Cable-suspended robots and haptics interfaces are appealing because of their structural simplicity, high stiffness, and high exerted wrench-to-weight ratio. A major drawback is that cables cannot push but can only exert tension. Therefore, actuation redundancy is required; even so, certain configurations and wrenches will fail since they would require one or more cables to push. The objective o...