Due to their parallel and modular structure, cable-driven parallel robots are very well suited for the implementation of a reconfiguration option. The term reconfiguration refers to the adaptation of the robot structure to a changed requirement.
Endless rotation about an axis is widespread among manipulators for industrial use. Manipulators, such as articulated robots, Delta, or SCARA robots, provide endless rotation about at least one axis to arbitrarily change the orientation of the workpiece handled.
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 …
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 …
Cable-driven parallel robots make use of elastic cables for force and motion transmission from the driving winches to the mobile platform. The system is inherently susceptible to transversal cable vibration stemming from jerky motion of the platform …
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 …