Generalized modeling of multilink cable-driven manipulators with arbitrary routing using the cable-routing matrix
Multilink cable-driven manipulators offer the compactness of serial mechanisms while
benefitting from the advantages of cable-actuated systems. One major challenge in …
benefitting from the advantages of cable-actuated systems. One major challenge in …
On the force-closure analysis of n-DOF cable-driven open chains based on reciprocal screw theory
It has been mathematically proven that a completely restrained n-degree-of-freedom (n-
DOF) single rigid-bodied cable-driven platform requires a minimum of n+ 1 cables with …
DOF) single rigid-bodied cable-driven platform requires a minimum of n+ 1 cables with …
Tri-space operational control of redundant multilink and hybrid cable-driven parallel robots using an iterative-learning-based reactive approach
Cable-driven parallel robots (CDPRs) are a type of parallel mechanism in which cables are
used as actuators. Due to the two levels of redundancy and numerous constraints within the …
used as actuators. Due to the two levels of redundancy and numerous constraints within the …
Cable routing design and performance evaluation for multi-link cable-driven robots with minimal number of actuating cables
A multi-link cable-driven robot (MCDR) usually has a large number of redundant actuating
cables due to its modular cable routing scheme. To reduce the number of actuating cables …
cables due to its modular cable routing scheme. To reduce the number of actuating cables …
Design and modeling of a planar-to-spatial tendon-driven continuum manipulator subjected to uncertain forces
Abstract Continuum Manipulators (CMs) have gained popularity as a promising solution for
exploring unstructured environments due to their dexterity, compliance, and redundancy …
exploring unstructured environments due to their dexterity, compliance, and redundancy …
Reducing actuators in soft continuum robots and manipulators
Soft continuum robots and manipulators (SCRaMs) are elongated structures that can be
used in many applications, such as exploration, inspection, and minimally invasive surgery …
used in many applications, such as exploration, inspection, and minimally invasive surgery …
Conditions on the cable-routing matrix for wrench closure of multilink cable-driven manipulators
Wrench-closure is an important property of cable-driven parallel manipulators (CDPMs),
representing the ability to generate wrench in any direction by positive cable forces. For …
representing the ability to generate wrench in any direction by positive cable forces. For …
Tension reduction method for a modular cable-driven robotic arm with co-shared cables
Y Wang, G Yang, T Zheng, W Shen, Z Fang… - Intelligent Service …, 2022 - Springer
This paper focuses on the tension reduction method for a Modular Cable-Driven Robotic
Arm (MCDRA) that consists of a number of 2-degree-of-freedom (2-DOF) cable-driven joint …
Arm (MCDRA) that consists of a number of 2-degree-of-freedom (2-DOF) cable-driven joint …
Analysis of optimal cable configurations in the design of a 3-dof cable-driven robot leg
The operational workspace of a cable-driven serial robot is largely dictated by the choice of
cable placement and routing. As robot complexity increases with additional cables and …
cable placement and routing. As robot complexity increases with additional cables and …
[PDF][PDF] Modelling and analysis of anthropomorphic cable-driven robots
DTM Lau - 2014 - core.ac.uk
Cable-driven parallel manipulators (CDPMs) have been studied in recent years due to their
unique characteristics and advantages. In particular, CDPMs have been regarded as bio …
unique characteristics and advantages. In particular, CDPMs have been regarded as bio …