This paper presents an approach on stability analysis of cable-driven parallel robots (CDPRs) considering cable mass based tensions and stiffness matrix condition numbers. A model is introduced the effect mass. established model. Then, numbers are presented. Furthermore, CDPRs discussed. Numerical simulations show that better in center at top whole workspace than other places, which agrees well...

Cable-Driven Parallel Robots (CDPRs) use cables arranged in a parallel fashion to manipulate an end-effector (EE). They are functionally similar several cranes that automatically collaborate handling shared payload. Thus, CDPRs share types of equipment with cranes, such as winches, hoists, and pulleys. On the other hand, since rely on model-based automatic controllers for their operations, stan...

Cable-driven parallel robots (CDPRs) have the potential of being go-to rapidly deployable and reconfigurable robots. This is because cables are used instead rigid links thus overall robot architecture can consist only four masts, eight motors very long actuating moving-platform. paper introduces a large CDPR called ROCASPECT. Its accuracy repeatability been evaluated according to ISO 9283:1998....

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...

This paper studies the kinematics and statics of cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, together with a general procedure aimed at effectively solving, in analytical form, the inverse and direct position problems. The stability of equilibrium is assessed within the framework of a constrained optimization problem, fo...

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...

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...