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Mobile Cable-Driven Parallel Robot

FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics

FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics

... The robot under study, named FASTKIT, is obtained from a combination of mobile robots and a Cable-Driven Parallel Robot ...two mobile bases that carry the exit points of ...

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Path Planning of a Mobile Cable-Driven Parallel Robot in a Constrained Environment

Path Planning of a Mobile Cable-Driven Parallel Robot in a Constrained Environment

... A Mobile Cable-Driven Parallel Robot (MCDPR) is a special type of Reconfigurable Cable-Driven Parallel Robot (RCDPR) composed of a classical ...

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Available Wrench Set for Planar Mobile Cable-Driven Parallel Robots

Available Wrench Set for Planar Mobile Cable-Driven Parallel Robots

... a Mobile Cable-Driven Parallel Robot (MCDPR) has been ...the cable tension limits and the static equilibrium of the mobile ...two mobile bases and taking into ...

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Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots

Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots

... of Mobile Cable-Driven Parallel ...of Mobile Cable-Driven Parallel ...a Mobile Cable-Driven Parallel Robot are ...classical ...

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Optimization based Trajectory Planning of Mobile Cable-Driven Parallel Robots

Optimization based Trajectory Planning of Mobile Cable-Driven Parallel Robots

... of Mobile Cable-Driven Parallel Robots Tahir Rasheed 1 , Philip Long 2 , Adolfo Suarez Roos 3 and St´ephane Caro 4 Abstract— A Mobile Cable-Driven Parallel ...

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Kinematic Modeling and Twist Feasibility of Mobile Cable-Driven Parallel Robots

Kinematic Modeling and Twist Feasibility of Mobile Cable-Driven Parallel Robots

... Some papers deals with the velocity analysis of parallel manipulators [9]. How- ever, few focus on the twist analysis of CDPRs [8]. This paper deals with the kine- matic modeling of MCDPRs that is required to ...

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Geometric Determination of the Cable-Cylinder Interference Regions in the Workspace of a Cable-Driven Parallel Robot

Geometric Determination of the Cable-Cylinder Interference Regions in the Workspace of a Cable-Driven Parallel Robot

... CAROCA mobile platform leading to some cable- cylinder interferences tubular structure is replaced with a single cylinder, to simplify the analysis of the in- terference ...each cable, are ...

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On the Reconfiguration of Cable-Driven Parallel Robots with Multiple Mobile Cranes

On the Reconfiguration of Cable-Driven Parallel Robots with Multiple Mobile Cranes

... a Cable-Driven Parallel Robot (CDPR) with three mobile cranes for search-and-rescue ...Each mobile crane is composed of a reconfigurable telescopic boom, which can ...A ...

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Cable interference control in physical interaction for cable-driven parallel mechanisms

Cable interference control in physical interaction for cable-driven parallel mechanisms

... the mobile platform’s trajectory is modified in order to avoid contact between two cables, and in some cases, the working space may also be ...a robot limb and the environment is ...the robot ...

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Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot

Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot

... 1. Cable-driven parallel robot CoGiRo with a 7-DOF robotic ...a cable when the mobile platform of a CDPR moves within a prescribed workspace is discussed in [8] and the geometric ...

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Tension Distribution Algorithm for Planar Mobile Cable-Driven Parallel Robots

Tension Distribution Algorithm for Planar Mobile Cable-Driven Parallel Robots

... fixed cable layout, i.e. fixed exit points and cable config- ...to cable collisions and some extrernal wrenches that cannot be accepted due to the robot ...the robot to perform the ...

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Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots

Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots

... Planar Mobile Cable Driven Par- allel Robots (PMCDPRs) with one degree of kinematic redun- dancy for fast pick-and-place operations is ...the Mobile Bases (MBs) are formulated that are ...

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Kinematic Modeling and Twist Feasibility of Mobile Cable-Driven Parallel Robots

Kinematic Modeling and Twist Feasibility of Mobile Cable-Driven Parallel Robots

... fixed cable layout, i.e, fixed exit points and cable configuration, is the potential collisions between the cables and the surrounding environment which can significantly reduce the robot ...tecture. ...

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Kinetostatic Modeling of a Cable-Driven Parallel Robot Using a Tilt-Roll Wrist

Kinetostatic Modeling of a Cable-Driven Parallel Robot Using a Tilt-Roll Wrist

... a cable loop was used to actuate a one Degree of Freedom (DoF) mechanism, while here we employ two cable loops to actuate a tilt-roll wrist having a large rotational ...differentially driven ...

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A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large Structures

A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large Structures

... Reconfigurable Cable Driven Parallel Robot (RCDPR) to be employed in industrial operations on large ...classic Cable-Driven Parallel Robots (CDPR), which have a fixed ...

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Isotropic Design of the Spherical Wrist of a Cable-Driven Parallel Robot

Isotropic Design of the Spherical Wrist of a Cable-Driven Parallel Robot

... being driven through drums. Each cable makes several loops around each ...same cable turn in the same direction, the cable circulates and drives the drum and its associated omni- ...the ...

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Vision-Based Control and Stability Analysis of a Cable-Driven Parallel Robot

Vision-Based Control and Stability Analysis of a Cable-Driven Parallel Robot

... a cable-driven parallel robot (CDPR) is a parallel robot that is actuated by flexible cables instead of rigid ...measure cable tensions [4]; (iii) angular position sensors ...

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Parasitic Inclinations in Cable-Driven Parallel Robots using Cable Loops

Parasitic Inclinations in Cable-Driven Parallel Robots using Cable Loops

... Abstract Cable-Driven Parallel Robots (CDPRs) also noted as wire-driven robots are parallel manipulators with flexible cables instead of rigid ...in parallel the MP to the base ...

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Design of Reconfigurable Cable-Driven Parallel Robots

Design of Reconfigurable Cable-Driven Parallel Robots

... Fig. 1: Architecture of a CDPR developed in the framework of the IRT Jules Verne CAROCA project. CDPRs have several advantages such as a relatively low mass of moving parts, a potentially very large workspace due to size ...

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Grasping objects with a cable-driven parallel robot designed for transfer operation by visual servoing

Grasping objects with a cable-driven parallel robot designed for transfer operation by visual servoing

... a cable-driven parallel robot (CDPR) which provides services such as walking-aid, lifting people, and may also be used to collect information concerning for example the health of the ...The ...

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