Parallel robots have natural advantages for many applications thanks to their high rigidity, accuracy, low inertia of the moving parts and lightness, etc. The goal this study has performed motion control, kinematical, workspace analyses a Delta-type parallel robot with 3 degrees freedom (3-DOF). actual parameter values were used in control analyses. Forward inverse kinematics analysis, as well ...

The workspace of a Stewart platform is a complex sixdimensional volume embedded in the Cartesian space defined by six pose parameters. Because of its large dimension and complex shape, such workspace is difficult to compute and represent, so that comprehension on its structure is being gained by studying its three-dimensional slices. While successful methods have been given to determine the con...

Pashkevich A., Wenger P. and Chablat D. Belarusian State University of Informatics and Radioelectronics P. Brovka str, 220027 Minsk, Republic of Belarus [email protected] Tel. 375 17 239 86 73, Fax. 375 17 231 09 14 Institut de Recherche en Communications et Cybernétique de Nantes 1, rue de la Noë B.P. 6597, 44321 Nantes Cedex 3, France {Philippe.Wenger, Damien.Chablat}@irccyn.ec-nantes.fr Te...

Dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. Since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. Hence, importance of the efficiency of the algorithm and the CPU time of the workspace computatio...

workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

A planar cable-direct-driven robot (CDDR) architecture is introduced with only translational freedoms. The motivation behind this work is to improve the serious cable interference problem with existing CDDRs and to avoid configurations where negative cable tensions are required to exert general forces on the environment and during dynamic motions. These problems generally arise for rotational C...

We present the simulated dynamics and control of a planar, translational cable-direct-driven robot (CDDR). The motivation behind this work is to improve the serious cable interference problem with existing CDDRs and to avoid configurations where negative cable tensions are required to exert general forces and moments on the environment and during dynamic motions. Generally for CDDRs the command...

This article presents a new planar translational cable-direct-driven robot 1 (CDDR) with actuation redundancy and supported against loading normal to the 2 motion plane with a passive planar two-degree-of-freedom SCARA-type (Selective 3 Compliance Assembly Robot Arm) serial manipulator. This allows the robot to 4 resist cable sag without being supported on the motion plane. The proposed robot 5...

Abstract Cable‐driven parallel robots (CDPRs) are in which cables used instead of rigid connecting elements. An important task here, as other areas robotics, kinematic calculations. The state the CDPR can be described either Cartesian workspace coordinates a pose or joint space via cable lengths. calculation lengths from given platform is relatively simple for CDPRs. In contrast, forward kinema...

Replication of human hand motions on anthropomorphic robotic hands is typically treated in literature as the combination two sub-problems: measurement motions, and mapping such hand. In this letter we focus second one. Different approaches have been proposed to deal with problem, but none them preserves both master finger shapes fingertip positions hand, i.e. ensuring predictability natural mot...