Cable-driven parallel robots (CDPRs) have applications in large workspaces and at high
operating speeds, which necessitates considering the mass and elasticity of cables for …

Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-
driven kinematic chains and parallel mechanism theory. It inherits the high dynamics and …

Generating a defined motion is one of the fundamental tasks for a machine. By definition, a
robot is a universal machine dedicated to creating motion that can be freely programmed. A …

This article proposes a nonlinear model predictive control (NMPC) strategy for the position
tracking of cable-driven parallel robots (CDPRs). The NMPC formulation handles explicitly …

Cable-suspended parallel robot (CPR), in which cables are utilized to replace links to
manipulate objects, is developed from parallel and serial cable-driven robot. Compared with …

In this paper, we study the design and workspace of a 6–6 cable-suspended parallel robot.
The workspace volume is characterized as the set of points where the centroid of the moving …

This paper presents a method for analytically generating the boundaries of the wrench-
feasible workspace (WFW) for cable robots. This method uses the available net wrench set …

The control of cable-driven robots is challenging due to the system's nonlinearity, actuation
redundancy, and the unilaterally bounded actuation constraints. To solve this problem, a …

This paper introduces the available net wrench set, which is the set of all wrenches that a
cable robot can apply to its surroundings without violating tension limits in the cables. This …

Rehabilitation robotics is an evolving area of active research and recently novel
mechanisms have been proposed to reinstate complex human movements. Parallel robots …