This paper presents a consistent solution strategy for static equilibrium workspaces of different types under-constrained robots. Considering the constraint conditions cable force and taking least squares error equation as objective, convex optimization is carried out, working space system obtained. A applied to solve cable-driven parallel planar hybrid The dynamic models are presented introduc...

This paper investigates a new approach for solving the forward kinematics of cable-driven parallel robots. This approach combines an interval algorithm with neural networks to provide a fast but accurate initial guess. The neural networks increase the computation speed by a factor of 200 or more, while the interval algorithm provides guaranteed convergence and a definite solution to any chosen ...

Abstract Cable-driven parallel robot (CDPR) is a type of high-performance that integrates cable-driven kinematic chains and mechanism theory. It inherits the high dynamics heavy load capacities significantly improves workspace, cost energy efficiency simultaneously. As result, CDPRs have had irreplaceable roles in industrial technological fields, such as astronomy, aerospace, logistics, simulat...

Cable-driven parallel robot (CDPR) are parallel robots that use coilable cables as legs. We are interested here in suspended CDPR for which there is no cable that exert a downward force on the platform. If we assume that the cables are mass-less and not elastic it has been shown that at a given pose whatever is the number m > 6 of cables there will always be at most 6 cables under tension simul...

Known for their lower costs and numerous applications, cable robots are an attractive research field in robotic community. However, considering the fact that they require an accurate installation procedure and calibration routine, they have not yet found their true place in real-world applications. This paper aims to propose a new controller strategy that requires no meticulous calibration and ...

This paper addresses the topological and dimensional synthesis of cable-driven parallel robots. A combined methodology for type size optimization is proposed applied to a cable driven robot, which intended upper-limb rehabilitation exercises. The approach deals with set deterministic non-deterministic parameters within multi-objective genetic algorithm. study aims select suitable architecture h...