Employing cables with strong flexibility and unidirectional restraints to operate a camera platform leads stability issues for robot long-span considering the cable mass. Cable tensions, which are constraints platform, have critical influence on of robot. Consequently, this paper focuses two special problems minimum tension distributions (MCTDs) within workspace sensitivity analysis (CTSA) by t...

This article presents redundancy resolution and disturbance rejection via torque optimization in hybrid cable-driven robots (HCDRs). To begin with, we present a redundant HCDR for nonlinear whole-body system modeling model reduction. Based on the reduced dynamic model, two new methods are proposed to solve problem: 1) joint-space actuated joints (TOAJ) 2) unactuated (TOAUJ), they can be extende...

Cable Driven Parallel Robots (CDPRs) are parallel robots, in which the limbs replaced by cables that guided pulleys. In many papers, pulleys considered as fixed points of passage and cable elasticity is neglected. Those approximations simplify robot modelling, but lead to some Moving-Platform (MP) pose errors. This paper deals with modelling suspended three degree-of-freedom CDPRs considering g...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

Cable suspended robots support a moving platform (MP) in space by several spatially arranged cables with computer-controlled winches. The winches are mounted on base platform (BP). Compared to conventional robots, it is possible to control not only the translational motion of the payload but also its orientation in order to perform, for example, loads handling. By this, cable suspended robots c...

This paper presents a new geometry-based method to determine if a cable-driven robot operating in a d-degree-of-freedom workspace (2 ≤ d ≤ 6) with n ≥ d cables can generate a given set of wrenches in a given pose, considering acceptable minimum and maximum tensions in the cables. To this end, the fundamental nature of the Available Wrench Set is studied. The latter concept, defined here, is clo...