In the realm of unstructured and cluttered dynamic environments, manipulators are
increasingly being utilized to tackle challenges. This paper proposes a novel type of …

Lately, due to their simple structure, high ratio of strength to weight, the cable-driven parallel
robots have attracted attention in both research and industry. In this research, kinematics …

In this study, the kinematics and dynamics of a plane direct-guided cable robot with three
degree-of-freedom and the control of its direction have been studied and investigated. First …

This paper focuses on a class of continuum robotic manipulators that uses cables for
actuation. Continuum robots promise better maneuverability than traditional rigid-link robots …

Mechanical joint defects might highly influence the dynamic response of the whole
multibody system. Affecting the transient behavior, the joint clearance yields noise and …

در این پژوهش، سینماتیک و دینامیک یک ربات کابلی صفحهای سه درجه آزادی، به همراه کنترل مسیر
آن مورد مطالعه و بررسی قرار گرفته است. ابتدا، کششی بودن نیروی کابلها با توجه به این نکته …‎

To create a relative movement between connected members in a mechanism, the presence
of clearance in the joints is inevitable. In addition to raise errors in positioning accuracy, the …

برای ایجاد حرکت نسبی بین عضوهای متصل‌به‌هم در یک مکانیزم، وجود لقی در مفاصل امری
اجتناب‌ناپذیر است. علاوه بر ایجاد خطا در دقّت موقعیتیابی، وجود لقی یکی از مهم‌ترین عوامل ایجاد …‎

In this paper, a hybrid model which consists of planar parallel robot with a 2-DOF ar m is
presented. This manipulator design is based on cable parallel robots and a kinematic serial …

Cable-Driven Parallel Robot has many advantages. However, the problems of cable
collision between each other and environment, the lack of proper structure and non-positive …