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RISA Cable-Driven Parallel Robot With An Embedded Tilt-Roll Wrist
Publisher: The American Society of Mechanical Engineers (ASME)
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 ...
Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Cable-driven parallel robots (CDPRs) hold numerous advantages over conventional parallel robots in terms of high speed and large workspace. Cable-driven parallel robots whose workspace can be further increased by the ...
Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In manufacturing industry, computer numerical control (CNC) machines are often preferred over industrial serial robots (ISR) for machining tasks. Indeed, CNC machines offer high positioning accuracy, which leads to slight ...
Input Shaping for Feed-Forward Control of Cable-Driven Parallel Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper deals with the use of input-shaping filters in conjunction with a feed-forward control of cable-driven parallel robots (CDPRs), while integrating cable tension calculation to satisfy positive cable tensions along ...
Classification of 3T1R Parallel Manipulators Based on Their Wrench Graph
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a classification of 3T1R parallel manipulators (PMs) based on the wrench graph. By using the theory of reciprocal screws, the properties of the three-dimensional projective space, the wrench graph, and ...
A Transmission Quality Index for a Class of Four-Limb Parallel Schönflies Motion Generators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a uniform method of evaluating both transmission quality and singularity applicable for a class of parallel Schönflies-motion generators (SMGs) with four RRΠRR limbs. It turns out that the determinant ...
Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Aerial cable towed systems (ACTSs) can be created by joining unmanned aerial vehicles (UAVs) to a payload to extend the capabilities of the system beyond those of an individual UAV. This paper describes a systematic method ...
Design of a Sliding Mode-Adaptive Proportional-Integral-Derivative Control for Aerial Systems With a Suspended Load Exposed to Wind Gusts
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Wind gusts are among the well-known disturbances that afflict aerial systems. A tracking task for a load suspended by massless rigid bars and quadrotors is considered in this paper. The complexity of the tracking task lies ...
Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt
Publisher: The American Society of Mechanical Engineers (ASME)
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 ...
A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations
Publisher: The American Society of Mechanical Engineers (ASME)
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. ...