Cable-Driven Parallel Robots (CDPRs) are a special variant of traditional rigid-link As a kind of parallel robots, CDPRs have advantages in load capacity. In the past two decades the work of a growing portion of researchers in robotics focused on a particular group of machines, belonging to the family of parallel. Adaptive cable-driven parallel robots are a special subclass of cable-driven systems in which the locations of the pulley blocks are modified as a function of the.


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Inria - Simulation of Discrete-Time Controlled Cable-Driven Parallel Robots on a Trajectory

Simulation of cable-driven parallel robots CDPR for instance requires a cable model that can dynamically change in length for every desired pose of the platform. Thus, in this paper, a detailed procedure for modeling and simulation of a cable-driven parallel robots cable model in Dymola is proposed.


A linear sensor was used in one branch of this cable mechanism to provide the needed intermediate values. The position of one link of the platform was fixed in order to focus this analysis on the relationship between the cables and the platform's cable-driven parallel robots movement.

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  • Cable-Driven Parallel Robots

Cable-body systems have been modeled using continuum models based on partial differential equations cable-driven parallel robots strings, as well as lumped mass method in [ 10 ].

In complex applications, the lumped mass method representation is usually the preferred choice for detailed simulation work [ 11 ] and is employed in our work. Cable-driven parallel robots this paper, we present a deployment and retrieval cable mathematical model using a lumped parameter representation.


First, the general representation of the cable model is given. Then, according to the 50?

Cable-Driven Parallel Robot with Reconfigurable End Effector Controlled with a Compliant Actuator.

Finally, numerical simulations illustrate the performance of the proposed method. The CDPR is considered that is kinematically and statically determined.

Therefore, the cabin can translate and rotate in the inertial frame. However, workspace analysis and obtaining positive tension in cables of a redundant cable robot can be complicated.

Deployment/Retrieval Modeling of Cable-Driven Parallel Robot

In general, for a redundant robot, infinite solution may exist, but for a redundant cable robot a solution is acceptable only if all the elements of tension vector are non-negative. Finding such solution can be challenging, especially if the end-effector is working along a trajectory and a continuous and smooth distribution of tensions is desired in cables.

In literature several methods have been presented to solve such problems a computational method is introduced based on Particle Swarm Optimization method cable-driven parallel robots find continuous smooth solutions along a trajectory for a cable-driven parallel robots redundant cable robot.

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