This paper examines the design, analysis and control of a novel hybrid articulated-cable parallel platform for upper limb rehabilitation in three dimensional space. The proposed lightweight, low-cost, modular reconfigurable parallel-architecture robotic device is comprised of five cables and a single linear actuator which connects a six degrees-of-freedom moving platform to a fixed base. This n...

Abstract The Five-hundred-meter Aperture Spherical radio Telescope (FAST) is the largest single-dish aperture telescope with a cable-driven parallel robot introduced to achieve highest sensitivity in world. However, realize high-precision, mechanical equations of such are always complicated, so that it difficult real-time control by traditional iterative method. In this regard, paper proposes a...

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 app...

This paper presents a new 6 degree-of-freedom cable-driven parallel robot fully constrained by 8 cables. should perform medium size 3D part printing. Its distinguishing feature is radial cable winding that relevant due to the small diameter (0.54 mm) and maximum length (1.732 m, 1 m cube diagonal). solution has advantage of being compact easy design. The trajectory planning uses full geometric ...

This paper proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots. Given two mechanical states of the robot, both with a prescribed position and velocity, the method attempts to connect them by a collision-free trajectory that respects the joint and force limits of the actuators, keeps the cables in tension, and takes th...

Cable-driven parallel robots are a special type of robot in which an end-effector is attached to fixed frame by means several cables. The position and orientation the can be controlled controlling length These present wide range advantages, control algorithms required have greater complexity than those traditional serial robots. Measuring cable tension important task this as many rely on inform...