Due to their use of modular components, cable-driven parallel robots are prime candidates for use as reconfigurable robotic manipulators. Reconfiguration comprises both the change of the geometry as well as topological changes such as adding or …
Cultural heritage science envisages understanding of methods and techniques used by past painters and sculptors in creating their masterpieces of art. Existing devices for in situ and non-destructive, automated scanning are large and bulky and built …
Cable-driven parallel robots are a special kind of parallel mechanism which use cables instead of rigid prismatic actuators to control a single platform. This paper presents a modeling approach to replace the single platform by multiple platforms. …
This paper deals with a unified approach to forward kinematics for both over-constrained and under-constrained cable robots. Moreover, little assumptions on the cable model are required. This makes the proposed method applicable to a variety of …
Additive manufacturing has attracted a lot of attention in the recent years as it allows to effectively manufacture objects with complex shape in batch size one. Extrusion-based additive processes employ manipulators, such as robots, to move the …
Ultra-high-molecular-weight polyethylene fibers like Dyneema or Spectra are employed in a vast variety of cable-driven parallel robots. The stress-strain dynamics of such cables are highly non-linear with time-varying mechanical parameters, resulting …
Cable-driven parallel robots use elastic-flexible cables for operation due to their advantages over rigid-link joints. In state-of-the-art modeling of cable-driven parallel robots, cables are mostly kinematics based and contain no explicit …
Multi-stage production systems concede for low error and failure margins within every single machining and assembly step to not degrade product quality. Especially during multi-stage production of rotating parts, minor defects during a single step …
Comparing cable-driven parallel robots (short CDPRs or cable robots) with conventional parallel mechanisms, CDPRs have advantages in terms of flexibility, dynamics, and workspace size. In general, the rotational capabilities of parallel mechanisms …
In this paper, an approach to capture and visualize the impact of a geometrical adjustments of a cable-driven parallel robot is presented. This method combines the precision of an analytic description with the efficiency of numeric methods. The …
Kinematics and dynamics of cable-driven parallel robots are affected by the cables used as force and motion transmitting elements. Flexural rigidity of these cables is of major interest to better understand dynamics of these systems and to improve …
Model based open-loop and closed-loop control systems make use of the system's inertial parameters. Unfortunately, not all of these values can be determined analytically nor can they be obtained from simple measurements. Established experiments for …
High dynamics of cable-driven parallel robots are beneficial to their use, however, the behavior of such robots during extreme maneuvers is yet to be investigated. In this paper, a simulation model is presented and validated in order to assess the …
In this paper, the kinematics and dynamics modeling of the mechatronic model for a 6 DOF cable-driven parallel robot are covered and a real-time capable simulation model for such robots is derived. The governing equations of motion of the mobile …