Abstract: This paper presents a vector expression of the constantorientation singularity locus of the general Gough–Stewart platform. The thirddegree vector expression obtained does not contain a constant term, which allows the ...

Abstract: Cable-driven parallel robots (CDPRs) offer high payload capacities, large translational workspace, and high dynamics performances. Their rotational workspace is generally far more limited, however, which can be resolved ...

Abstract: Cable-driven parallel robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. ...

Abstract: This paper addresses the optimum design, configuration, and workspace analysis of a cable-driven parallel robot (CDPR) with an embedded tilt-roll wrist. The manipulator consists in a tilt-roll wrist mounted on the moving ...

Abstract: In the realm of cable-driven parallel robots (CDPRs), the conventional notion entails that each cable is directly actuated by a corresponding actuator, implying a direct relationship between the number of cables and ...