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[PDF] Top 20 A Cable-Driven Parallel Robot with Full-Circle End-Effector Rotations

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A Cable-Driven Parallel Robot with Full-Circle End-Effector Rotations

A Cable-Driven Parallel Robot with Full-Circle End-Effector Rotations

... ABSTRACT Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic per- ...in parallel to the moving platform using ...to ... Voir le document complet

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A Cable-Driven Parallel Robot with Full-Circle End-Effector Rotations

A Cable-Driven Parallel Robot with Full-Circle End-Effector Rotations

... As a consequence, the overall system is underactuated and its total mass and in- ertia in motion is ...hybrid robot was ex- pressed in order to determine its static equilibrium condi- tion and find the ... Voir le document complet

12

Cable-Driven Parallel Robot Modelling Considering Pulley Kinematics and Cable Elasticity

Cable-Driven Parallel Robot Modelling Considering Pulley Kinematics and Cable Elasticity

... dealt with the modeling of cable-driven parallel robots (CDPRs) while considering pulley kinematics and cable ...quantified. A method is then proposed to obtain numerically the ... Voir le document complet

34

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

... S 2 = { 0 p ∈ R 3 | 0 R1 given : −π ≤ α & β ≤ π : ∃t ∈ T , Wt + wg = 08} (40) Here, we consider CREATOR prototype introduced in [10] in order to trace S 1 and S2 for different orientations of the moving-platform. The ... Voir le document complet

13

Singularity of cable-driven parallel robot with sagging cables: preliminary investigation

Singularity of cable-driven parallel robot with sagging cables: preliminary investigation

... terms: parallel robot cable-driven parallel robot, sin- gularity ...consider a variant of parallel robots, namely cable- driven parallel robots ... Voir le document complet

7

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 ...links. A CDPR consists in ... Voir le document complet

7

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

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

... words: Parallel mechanism, cable-driven parallel robot, parallel spherical wrist, wrenches, dexterity 1 Introduction Several applications could benefit from CDPRs endowed ... Voir le document complet

11

Failure Analysis of a Collaborative 4-1 Cable-Driven Parallel Robot

Failure Analysis of a Collaborative 4-1 Cable-Driven Parallel Robot

... Cable-Driven Parallel Robot St´ephane Caro and Jean-Pierre Merlet Abstract Cable-Driven Parallel Robots (CDPRs) have been little used so far for collaborative tasks ... Voir le document complet

9

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 ...links. A CDPR consists in ... Voir le document complet

7

Cable-Driven Parallel Robot Simulation Using Gazebo and ROS

Cable-Driven Parallel Robot Simulation Using Gazebo and ROS

... CAROCA robot with 1 kg mass at the ...and cable tensions (lower ...the robot and the position error can be seen in figure 2 for the 1kg mass and figue 3 for the 15kg ...the robot stays ... Voir le document complet

9

Failure Analysis of a Collaborative 4-1 Cable-Driven Parallel Robot

Failure Analysis of a Collaborative 4-1 Cable-Driven Parallel Robot

... dealt with the possible failures of CDPRs when they are used for col- laborative work with humans and provided some technical solutions to ensure the safety of the ...considered a translational three ... Voir le document complet

9

Cable-Driven Parallel Robots with Large Translation and Orientation Workspaces

Cable-Driven Parallel Robots with Large Translation and Orientation Workspaces

... Chapter A CDPR using a tilt-roll wrist has been introduced in this ...The robot com- bines the advantages of CDPR in terms of large translational workspace with those of tilt-roll wrist in ... Voir le document complet

203

A Cable-Driven Parallel Robot with an Embedded Tilt-Roll Wrist

A Cable-Driven Parallel Robot with an Embedded Tilt-Roll Wrist

... bi-actuated cable circuits are employed for different reasons in the design of several CDPRs, such as increasing the size of their wrench-feasible workspace ...of cable-loops is the actuation of embedded ... Voir le document complet

34

A Four-limb Parallel Schönflies Motion Generator with Full-circle End-effector Rotation

A Four-limb Parallel Schönflies Motion Generator with Full-circle End-effector Rotation

... two-limb parallel SMGs [20, 21, 26], the four-limb robot counterparts are ...robots with a single platform [6, 9, 11] can significantly decrease the structural complexity towards low ... Voir le document complet

22

Input-Output Feedback Linearization for the Control of a 4 Cable-Driven Parallel Robot

Input-Output Feedback Linearization for the Control of a 4 Cable-Driven Parallel Robot

... the end effector from (1,1,1) to (2,2,1.5) with noise in the measurement of forces ...underactuated cable-driven parallel ... Voir le document complet

7

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

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

... proposes a Cable-Driven Parallel Robot (CDPR) with three mobile cranes for search-and-rescue ...of a reconfigurable telescopic boom, which can rotate. A ... Voir le document complet

6

Reconfigurable cable driven parallel mechanism

Reconfigurable cable driven parallel mechanism

... 4.2. Cable-cable collision detection In our study, after solving the forward and inverse kinematics given that the attachment points on the rails move vertically, the reconfiguration idea is then used to ... Voir le document complet

150

Kinetostatic Analysis of a Simple Cable-Driven Parallel Crane

Kinetostatic Analysis of a Simple Cable-Driven Parallel Crane

... in a base frame and a MP connected in parallel by two actuated cables as shown in ...within a planar ...through a cable loop and a drum, so that no motor needs to be ... Voir le document complet

11

Visual Servoing of Cable-Driven Parallel Robots with Tension Management

Visual Servoing of Cable-Driven Parallel Robots with Tension Management

... of Cable-Driven Parallel Robots with Tension Management Zane Zake 1,2 , Franc¸ois Chaumette 3 , Nicol`o Pedemonte 2 , and St´ephane Caro 1,4 Abstract— Cable-driven ... Voir le document complet

8

A Reconfiguration Strategy for Reconfigurable Cable-Driven Parallel Robots

A Reconfiguration Strategy for Reconfigurable Cable-Driven Parallel Robots

... A Reconfiguration Strategy for Reconfigurable Cable-Driven Parallel Robots Lorenzo Gagliardini 1 , Stéphane Caro 2 , Marc Gouttefarde 3 and Alexis Girin 1 Abstract— This paper deals ... Voir le document complet

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