In this paper a performance analysis is presented for a cable-suspended parallel manipulator. Experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. The loadcarrying capacity during a given trajectory is obtained. This computational technique is tested on a typical planar cable suspended manipulator. The experime...

Cable Driven Parallel Robots (CDPRs) are parallel robots, in which the limbs replaced by cables that guided pulleys. In many papers, pulleys considered as fixed points of passage and cable elasticity is neglected. Those approximations simplify robot modelling, but lead to some Moving-Platform (MP) pose errors. This paper deals with modelling suspended three degree-of-freedom CDPRs considering g...

The separation of gangues from coals with robots is an effective and practicable means. Therefore, a cable-suspended gangue-sorting robot (CSGSR) end-grab was developed in our early work. Due to the unidirectional characteristic, flexibility cables, dynamic impact pick-and-place gangues, one significant issues robustness under internal external disturbances. Cable tensions, being end-grab’s con...

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 ...

 In this paper the flexible cable robot tracking is controlled using optimal feedback linearization method. Feedback linearization is used to control the robot within a predefined trajectory while its controlling gains are optimized using LQR method to achieve the maximum payload of the endeffector in presence of flexibilities. Required motors’ torque and tracking error caused by flexibility ...

Elastically-suspended loads can reduce the energetic cost of legged robot locomotion over flat ground. In this paper, we studied the effect of elastically-suspended loads on the mobility of legged robot locomotion over rough terrain. The power input and speed of a simple hexapod robot running over rough terrain with an elastically-suspended load and a rigidly-attached load was compared. On aver...

A suspended cable–based parallel robot (CBPR) composed of four cables and an end–grab is employed in a pick–and–place operation moving target gangues (MTGs) with different shapes, sizes, masses. This paper focuses on two special problems trajectory planning tracking control the gangue–sorting space. First, kinematic dynamic models for robots are presented presence model uncertainties unknown ex...

This article proposes modeling, simulation and kinematic and workspace analysis of a spatial cable suspended robot as incompletely Restrained Positioning Mechanism (IRPM). These types of robots have six cables equal to the number of degrees of freedom. After modeling, the kinds of workspace are defined then an statically reachable combined workspace for different geometric structures of fixed a...