The level adjustment of cable-driven parallel mechanism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of uncertainties exist in the adjustment process. This paper presents application of an adaptive control scheme for a cable suspended robot to handle uncertainties in mass and moments of inertia of end effecter. In section I...

This paper addresses the direct geometrico-static analysis of under-constrained cable-driven parallel robots with 3 cables. The task consists in finding all equilibrium configurations of the end-effector when the cable lengths are assigned. An interval-analysis-based procedure is proposed to numerically find the real solutions of the problem for a robot of generic geometry. Three equation sets ...

Abstract In this work, a planar cable parallel robot (CPR) driven by four cable-and-pulley differentials is proposed and analyzed. A new differential designed adding an extra pulley to eliminate the modeling inaccuracies due radius obviate need of solving complex model which considers kinematics. The design parameters CPR are determined through multi-objective optimal for largest total orientat...

This paper addresses the design and implementation of adaptive control on a planar cable-driven parallel robot with uncertainties in dynamic and kinematic parameters. To develop the idea, firstly, adaptation is performed on dynamic parameters and it is shown that the controller is stable despite the kinematic uncertainties. Then, internal force term is linearly separated into a regressor matrix...

Abstract Cable-driven parallel robots (CDPRs) offer high payload capacities, large translational workspace, and dynamics performances. Their rotational workspace is generally far more limited, however, which can be resolved using cable loops, as was shown in previous research. In the case of fully constrained CDPRs, loops induce unwanted torques on moving-platform (MP), causing it to tilt move ...

In cable driven parallel robots (CDPRs), a single malfunction usually induces complete failure of the entire robot. However, lost static workspace (due to failure) can often be recovered through reconfiguration attachment points on frame. This capability is introduced by adding kinematic redundancies robot in form moving linear sliders that are manipulated real-time redundancy resolution contro...

We are considering cable-driven parallel robot (CDPR), where the legs of constituted cables that can be independently coiled/uncoiled. show whatever size CDPR is we may have slack so using a sagging cable model takes into account both mass and elasticity will improve positioning accuracy. Being able to solve inverse direct kinematics (IK/DK) with crucial for kinematic analysis while being quite...