This paper presents a review of the state of the art in the area of cable-driven parallel
mechanisms. The basic kinematic architecture of cable-driven parallel mechanisms is first …

Parallel kinematic mechanisms (PKM) have received particular attention due to their higher
stiffness, increased payload capacity, and agility, when compared to their serial …

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 …

Redundancy resolution of redundantly actuated cable-driven parallel robots (CDPRs)
requires the computation of feasible and continuous cable tension distributions along 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 …

This kineto-static problem of cable-driven parallel robot (CDPR) considering cable mass and
elasticity is a highly non-linear and computationally complex problem. Numerical methods …

The researching, designing, calculating, and controlling cable‐driven parallel robots
(CDPRs) are being promoted in recent years. The researches focus on optimizing the …

Cable-driven parallel robots (CDPRs) employ extendable cables to move their end-effectors
(EEs) throughout the workspace. Since cables can only sustain tensile stresses, the EE is …

This paper develops a general model for kinematically-constrained redundant cable-driven
parallel robots (CDPRs), and studies stiffness improving effects and redundancy resolution …

Abstract Cable-Driven Parallel Robots (CDPRs) are a special kind of parallel manipulators
that offer several advantages compared to the conventional rigid parallel robots. One of the …