[PDF] Top 20 Isotropic Design of the Spherical Wrist of a Cable-Driven Parallel Robot

... presents the novel concept of mounting a parallel spherical wrist in se- ries with a CDPR, while preserving a fully-parallel actuation ...As a result, ... Voir le document complet

... capability of performing high-speed tasks ...amplitudes of rotation of their moving-platforms due to collision between their moving ...general, the workspaces of parallel robots ... Voir le document complet

... Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic ...performances. The rigid base frame of the CDPR is con- ... Voir le document complet

... ABSTRACT Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic per- ...formances. The rigid base frame of the CDPR is ... Voir le document complet

... - Spherical wrist, parallel robots, isotropic ...millions of years, fish have evolved swimming capacity far superior in many ways to what has been by nautical science and ...by ... Voir le document complet

... for the design and control of a ...as parallel robots with rigid legs are concerned efficient algorithms have been proposed to compute the border of cross-section ... Voir le document complet

... addresses the optimum design, configuration and workspace analysis of a Cable-Driven Parallel Robot (CDPR) with an embedded tilt-roll ...wrist. The ... Voir le document complet

... to the MP for actuating the wrist increases the weight of the MP and reduces the dynamic performance of the ...Therefore, a pair of bi- ... Voir le document complet

... on the static equilibrium and the Wrench Clo- sure Workspace (WCW) of the moving platform, ...on the moving platform, a pose belongs to the WCW if and only if any wrench ... Voir le document complet

... to the geometry selection of a redun- dantly actuated cable-suspended parallel robot intended to manipulate heavy payloads over a wide ...workspace. Cable-suspended ... Voir le document complet

... introduced a new conceptual design of cable- driven parallel robot connected to a hoist mechanism for lifting ...payloads. The robot exploits cables ... Voir le document complet

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

... perturbations. The drawback of slid- ing mode control is the existence of discontinuities in the control input due to the use of the sign function (Utkin ... Voir le document complet

... , of 10 m and a width, w s , of 5 m. The diameter of the tube, φ s , is equal to 50 ...cm. The design problem can be summarized as follows. The CDPR ... Voir le document complet

... velocity of the MP. Errors dur- ing the x-y translation phase can be explained by differences be- tween the real robot and its model, as cable exit points A i are assumed ... Voir le document complet

... Model of Cable-Driven Parallel Robots Sana Baklouti, St´ephane Caro and Eric Courteille Abstract This paper deals with the sensitivity analysis of the elasto-geometrical ... Voir le document complet

... 1. Cable-driven parallel robot CoGiRo with a 7-DOF robotic ...arm. of a 6D ...mination of the volume swept by a cable when the mobile ... Voir le document complet

... INTRODUCTION A special kind of parallel robots named Cable-Driven Par- allel Robots (CDPRs) has cables instead of rigid ...links. The main advantages of CDPRs are ... Voir le document complet

... aid the design and control of reconfigurable ...solve the CDPR reconfiguration problem ...in the past decades in favor of their appeal- ing advantages such as light-weight, ... Voir le document complet

... For the two robot configurations illustrated in Fig. 5a and 5c, the Available Twist Set (ATS) associated to the foregoing ACVS is determined from ...that the ATS in each configuation in ... Voir le document complet