The design, dynamic modelling, and workspace are presented in this paper concerning cooperative cable parallel manipulators for multiple mobile cranes (CPMMCs). The CPMMCs can handle complex tasks that are more difficult or even impossible for a single mobile crane. Kinematics and dynamics of the CPMMCs are studied on the basis of geometric methodology and dʹAlembert’s pr...

This paper presents the design and mathematical model of an innovative smart crane, CHAYA-SC, based on principle a cable-driven parallel manipulator, as well its stabilization. crane is mounted airship hold intended for handling at altitude. Our objective to precise light that can be used container loading or unloading, particularly in deep-sea ports. Thus, developed includes oscillations trans...

The maximum cable tension is a crucial parameter in the design of cable-driven parallel robot (CDPR) since various mechanical components CDPR must be designed to safely withstand loads induced by this tension. For CDPRs having number cables at least equal its degree freedoms (DOFs), article deals with determination smallest vectors allowing required wrench set feasible. problem formulated as mi...

In this paper, kinematic modeling and singularity analysis of a three DOF redundant parallel manipulator has been elaborated in detail. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting that th...

In this paper, we investigate a design method for cable-driven snake arm maintainer (SAM) and its dynamics modelling. A SAM can provide redundant degrees of freedom high structural stiffness, as well load capacity simplified structure ideal various narrow extreme working environments, such nuclear power plants. However, their serial-parallel configuration cable drive system make the strongly co...

This paper deals with human-cable collision detection a Cable-Driven Parallel Robot (CDPR) and control strategy to safely release the tension in cable contact human operator. The main purpose of this work is contribute development safety solutions allowing collaborative between robot CDPRs production tasks. Using geometric model deformations under an external collision, direct relationship esta...