The kinematic sensitivity has been recently proposed as a unit-consistent performance index to circumvent several shortcomings of some notorious indices such as dexterity. This paper presents a systematic interval approach for computing an index by which two important kinematic properties, namely feasible workspace and kinematic sensitivity, are blended into each other. The proposed index may b...

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...

Abstract. Cable-driven parallel robots are a type of manipulators where rigid links replaced by actuated cables. Although in many cases dynamic models that neglect the cables mass and elasticity employed to simulate robot behavior test control approach be used, there several situations which their effect cannot disregarded, especially when large span cable density generates important sagging. T...

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 ...

Abstract A novel cable driven parallel robot is introduced to assist upper limb in rehabilitation treatments this paper, which has a lightweight structure. This characterized by and flexible end-effector that easy change assembly for different therapies. And it designed desktop usage, so its size not too large. After presenting the structure, kinematic model presented optimal design. Then, mini...

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 applied...

In the field of large scale robotic, which is often remotely operated, having direct interaction can be disruptive for applications such as moving heavy loads or 3D printing. A Cable-Driven Parallel Robot (CDPR) used here in physical Human–Robot Interactions (pHRI) with an admittance-based control strategy to physically interact a user tele-operation co-manipulation mode. experiment involving p...