in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

Unit quaternion is an ideal parameterization for joint rotations. However, due to the complexity of the geometry of S group, it’s hard to specify meaningful joint constraints with unit quaternion. In this paper, we have proposed an effective and accurate method to specify the rotation limits for joints parameterized with the unit quaternion. Joint constrains constructed with our method are adeq...

In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...