[PDF] Top 20 Kinetostatic Modeling of a Cable-Driven Parallel Robot Using a Tilt-Roll Wrist

... the wrist increases the weight of the MP and reduces the dynamic performance of the ...Therefore, a pair of bi- actuated cable circuits, namely, cable loops are employed ... Voir le document complet

... 2 of static workspace θ u as a function of r b and m 2 7 Conclusion This paper addresses the optimum design and cable con- figuration of a Cable-Driven ... Voir le document complet

... 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 ...purpose of cable-loops is ... Voir le document complet

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

... 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

... Singularity of cable-driven parallel robot with sagging cables: preliminary investigation ...analysis of cable-driven parallel robot (CDPR) with sag- ... Voir le document complet

... location of center of gravity [6]; color sensors can be used to detect regularly spaced color marks on cables to improve cable length measurement ...[7]. Of course, exteroceptive sensors can ... Voir le document complet

... drawback of slid- ing mode control is the existence of discontinuities in the control input due to the use of the sign function (Utkin (1992),Shtessel et ...As a consequence, the chattering ... Voir le document complet

... 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

... initial-pose of a generic suspended under-actuated CDPR, e.g. a 6-DoF CDPR actuated by n < 6 cables, that only relies on incremental mea- surements of cable length and ...as a ... Voir le document complet

... the modeling of cable-driven parallel robots (CDPRs) while considering pulley kinematics and cable ...influence of variations in geometric parameters on the pose error ... Voir le document complet

... INTRODUCTION Cable-Driven Parallel Robots (CDPRs) are a special variant of traditional parallel robots in which the traditional rigid links are replaced by flexible cables to ... Voir le document complet

... control of CDPRs has been considered in some previous ...proposed a robust PD control using adaptive compensation for fully-constrained ...on a small- size low-payload point-mass planar CDPR ... Voir le document complet

... obtain a visual servoing scheme, we have to extract data from a series of images and measuring features that can be related to the displacement of the ...[3], a lot of daily- ... Voir le document complet

... dynamic modeling 75 This section aims to establish the dynamic model of a suspended spatial CDPR with three cables and three translational DOF ...(Fig.1), using the non-linear tension ... Voir le document complet

... 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

... Determination of a Dynamic Feasible Workspace for Cable-Driven Parallel Robots ...equilibrium of the moving platform of a cable-driven paral- lel ... Voir le document complet

... configuration of the RCDPR. Placing the cable exit points on a grid of possible locations, numerous CDPR configurations can be gener- ...to a set of constraints in order to ... Voir le document complet

... La modélisation des RPC est abordée dans le chapitre 2, y compris les modèles géométrique, cinématique et dynamique. Dans un premier temps, le cas d’un RPC aux câbles droits, sans masse et inélastiques est considéré. Ces ... Voir le document complet

... C a are slack, they can be ...execution. A simple example of this procedure is given in ...given a specific RCDPR, it is possible to select a combination of configurations to ... Voir le document complet