Abstract Productivity can be increased by manipulators tracking the desired trajectory with some constraints. Humans as moving obstacles in a shared workspace are one of most challenging problems for cable-driven parallel mechanisms (CDPMs) that considered this research. One essential primary issues CDPM is collision avoidance among cables and humans workspace. This paper presents model simulat...

In this paper, kinematic modeling and singularity and stiffness analysis of a 3-d.o.f. redundant parallel manipulator have been elaborated in detail. It is known that, contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled non-linear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting...

The presented controller system has been designed and dedicated to the intuitive and instinctive cable driven robot manipulator. The described robot manipulator is the moving platform suspended by the set of six variable-length steel cables. In practice the construction is like a standard inverted Stewart platform the platform is able to move in all six degrees of freedom with respect to its ba...

Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currentl...

Cable-driven parallel robots offer significant advantages in terms of workspace dimensions and payload capability. Their mechanical structure transmission system consist light extendable cables that can withstand high tensile loads. Cables are wound unwound by a set motorized winches, so the robot mainly depend on amount cable each drum store. For this reason, these manipulators attractive for ...

A geometrically exact analytical model of cable-driven parallel manipulators operating in a three-dimensional space is formulated and discussed this work. The aims at investigating the positioning rigid body Cartesian by m-cables-driven manipulator taking into account cables mass, their elasticity and, consequently, sag effect. direct kinematic problem means 3(m+1) nonlinear equations expressin...

In this paper a unified contact force control approach for cable-driven parallel robots (CDPR) is proposed. The contact force controller is governed by two control loops: 1) An inner impedance control loop enforcing a dynamical relationship between the internal forces and the end-effector velocities to maintain a desired tension level in the cable system. 2) An outer admittance control loop con...

The RoboCrane is a cable driven, multi-purpose manipulator based on the Stewart Platform Parallel Link Manipulator. It provides six degree-of-freedom load control via teleoperative, graphic off-line programming, and hybrid control modes. Originally, the RoboCrane was developed under a Defense Advanced Research Project Agency (DARPA) contract to stabilize loads on conventional cranes. Currently,...

Autonomous distributed control (ADC) is one of the most attractive approaches for more versatile and autonomous robot systems. The paper proposes a parallel and distributed trajectory generation method for redundant manipulators through cooperative and competitive interactions among subsystems composing the ADC that is based on a concept of virtual arms. The virtual arm has the same kinematic s...