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State-of-the-art on theories and applications of cable-driven parallel robots

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0693-3

Abstract: Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-driven kinematicThis paper summarizes the kernel theories and developments of CDPRs, covering configuration design, cable-forceKinematic modeling, workspace analysis, and cable-force solution are illustrated.In addition, engineering problems such as cable materials, reliability design, and a unified control

Keywords： cable-driven parallel robot     kinematics     optimization     dynamics     control    

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0687-1

Abstract: A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to designThe CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cableperformance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable

Keywords： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 4,   Pages 344-351 doi: 10.1007/s11465-015-0364-8

Abstract:

In recent years, various cable-driven parallel robots have been investigated for their advantages,Thus, the application of such an optimal controller in cable-driven parallel robots can result in moreThis paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots.To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-driven

Keywords： accuracy     cable-driven parallel robot     linear quadratic optimal control    

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Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 45-60 doi: 10.1007/s11465-011-0205-3

Abstract: All three arm modules are also driven by cables in order to mimic the driving scheme and functionalityA research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrateWith a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has

Keywords： anthropomimetic design     robotic arm     cable-driven mechanism     kinematic analysis     design optimization    

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A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 1, doi: 10.1007/s11465-022-0722-2

Abstract: This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMsNext, Bowden cables are used to connect the joints and their driving units to obtain a modular cable-driven

Keywords： modular robotic arm     anti-parallelogram mechanism     Bowden cable     humanoid arm     lightweight joint design    

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Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0756-0

Abstract: The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexiblekinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-holeFirst, a novel cable-hole friction model with the variable friction coefficient and adaptive frictionSecond, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shift

Keywords： kinetostatic modeling     morphology characterization     variable friction     continuum robots     in-situ maintenance    

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Design and modeling of continuum robot based on virtual-center of motion mechanism

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0739-6

Abstract: Continuum robot has attracted extensive attention since its emergence. It has multi-degree of freedom and high compliance, which give it significant advantages when traveling and operating in narrow spaces. The flexural virtual-center of motion (VCM) mechanism can be machined integrally, and this way eliminates the assembly between joints. Thus, it is well suited for use as a continuum robot joint. Therefore, a design method for continuum robots based on the VCM mechanism is proposed in this study. First, a novel VCM mechanism is formed using a double leaf-type isosceles-trapezoidal flexural pivot (D-LITFP), which is composed of a series of superimposed LITFPs, to enlarge its stroke. Then, the pseudo-rigid body (PRB) model of the leaf is extended to the VCM mechanism, and the stiffness and stroke of the D-LITFP are modeled. Second, the VCM mechanism is combined to form a flexural joint suitable for the continuum robot. Finally, experiments and simulations are used to validate the accuracy and validity of the PRB model by analyzing the performance (stiffness and stroke) of the VCM mechanism. Furthermore, the motion performance of the designed continuum robot is evaluated. Results show that the maximum stroke of the VCM mechanism is approximately 14.2°, the axial compressive strength is approximately 1915 N/mm, and the repeatable positioning accuracies of the continuum robot is approximately ±1.47° (bending angle) and ±2.46° (bending direction).

Keywords： VCM mechanism     continuum robot     flexural joint     pseudo-rigid body model     cable-driven    

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An untethered cable-driven ankle exoskeleton with plantarflexion-dorsiflexion bidirectional movement Research

Tian-miao Wang, Xuan Pei, Tao-gang Hou, Yu-bo Fan, Xuan Yang, Hugh M. Herr, Xing-bang Yang,hherr@media.mit.edu,xingbang@mit.edu

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 5,   Pages 723-739 doi: 10.1631/FITEE.1900455

Abstract: A cable force transmission system based on gear-pulley assemblies was designed to transfer the powerA cable self-tension device on the power output unit was designed to tension the cable during walking

Keywords： Ankle exoskeleton     Plantarflexion-dorsiflexion bidirectional assistance     Biological gait torque     Cable-driven    

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Finite element modeling of cable sliding and its effect on dynamic response of cable-supported truss

Yujie YU, Zhihua CHEN, Renzhang YAN

Frontiers of Structural and Civil Engineering 2019, Volume 13, Issue 5,   Pages 1227-1242 doi: 10.1007/s11709-019-0551-5

Abstract: The cable system of cable-supported structures usually bears high tension forces, and clip joints mayfail to resist cable sliding in cases of earthquake excitations or sudden cable breaks.uses cable length and the original length relations.During seismic excitations, the cable sliding behavior in the cable-supported truss have an averagingThe slidable cable joints can greatly reduce the ability of a cable system to resist sudden cable breaks

Keywords： sliding cable     explicit solution framework     original length method     seismic response     cable rupture    

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Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 4,   Pages 350-359 doi: 10.1007/s11465-013-0271-9

Abstract:

Cable-suspended manipulators are used in large scale applications with, heavy in weight and long inIt seems impractical to maintain cable assumptions of smaller robots for large scale manipulators.In this paper, an analytic solution is provided to solve cable vibration.

Keywords： parallel robot     flexible cable     suspended robot     dynamic    

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Nonlinear analysis of cable structures using the dynamic relaxation method

Mohammad REZAIEE-PAJAND, Mohammad MOHAMMADI-KHATAMI

Frontiers of Structural and Civil Engineering 2021, Volume 15, Issue 1,   Pages 253-274 doi: 10.1007/s11709-020-0639-y

Abstract: The analysis of cable structures is one of the most challenging problems for civil and mechanical engineersTo utilize this scheme, investigators have suggested various stiffness matrices for a cable element.Moreover, a variety of benchmark problems are suggested by the authors for future studies of cable structures

Keywords： nonlinear analysis     cable structure     stiffness matrix     dynamic relaxation method    

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Seismic design of high-rise towers for cable-stayed bridges under strong earthquakes

Yan XU, Shide HU

Frontiers of Structural and Civil Engineering 2011, Volume 5, Issue 4,   Pages 451-457 doi: 10.1007/s11709-011-0127-5

Abstract: This paper presents the first of a series of studies on the seismic design of high-rise towers for cable-stayedOne practical cable-stayed bridge with a 730 m long main span and two high-rise towers over 200 m in

Keywords： high-rise tower     cable-stayed bridge     strong earthquake     seismic design    

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Influence of damages on static behavior of single-layer cable net supported glass curtain wall: full-scale

Gang SHI, Yongjiu SHI, Yuanqing WANG, Yongzhi ZUO, Xiaohao SHI, Zaoyang GUO,

Frontiers of Structural and Civil Engineering 2010, Volume 4, Issue 3,   Pages 383-395 doi: 10.1007/s11709-010-0074-6

Abstract: The single-layer cable net supported glass curtain wall has been applied in many building structuresTo study the influence of such damages on the static behavior of the single-layer cable net supportedTwo kinds of damages that are the cable prestress loss and cable anchorage end failure are led into theThe stiffness contribution of glass panels to the single-layer cable net supported glass curtain wallloss, while the change rate of nodal deflection is between 7% and 22% for the damage of cable anchorage

Keywords： single-layer plane cable net supported glass curtain wall     damage     cable prestress loss     cable anchorage    

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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0696-0

Abstract: study, a function-oriented optimization design (FOD) method is proposed for the design of a tendon-driven

Keywords： function-oriented     tendon driven     prosthetic hand     optimization     humanoid     underactuated    

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Dynamic performance of submerged floating tunnel with different mooring styles subjected to anchor cable

Frontiers of Structural and Civil Engineering doi: 10.1007/s11709-023-0932-7

Abstract: excitation as well as the effects of underwater structures and corrosion, the risk of local anchor cableA custom-designed cable failure device and the birth-and-death element method are used to simulate cableA physical-scale segmental model of an SFT with different mooring styles under anchor cable failure isby investigating the effects of key parameters (wave period, buoyant weight ratio, and cable failureMoreover, the progressive failure of the SFT under cable failure is investigated via a segment model

Keywords： dynamic behaviors     submerged floating tunnel     cable failure     mooring style     progressive failure    

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Title Author Date Type Operation

State-of-the-art on theories and applications of cable-driven parallel robots

Journal Article

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Journal Article

Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

Journal Article

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

Journal Article

A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

Journal Article

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Journal Article

Design and modeling of continuum robot based on virtual-center of motion mechanism

Journal Article

An untethered cable-driven ankle exoskeleton with plantarflexion-dorsiflexion bidirectional movement

Tian-miao Wang, Xuan Pei, Tao-gang Hou, Yu-bo Fan, Xuan Yang, Hugh M. Herr, Xing-bang Yang,hherr@media.mit.edu,xingbang@mit.edu

Journal Article

Finite element modeling of cable sliding and its effect on dynamic response of cable-supported truss

Yujie YU, Zhihua CHEN, Renzhang YAN

Journal Article

Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

Journal Article

Nonlinear analysis of cable structures using the dynamic relaxation method

Mohammad REZAIEE-PAJAND, Mohammad MOHAMMADI-KHATAMI

Journal Article

Seismic design of high-rise towers for cable-stayed bridges under strong earthquakes

Yan XU, Shide HU

Journal Article

Influence of damages on static behavior of single-layer cable net supported glass curtain wall: full-scale

Gang SHI, Yongjiu SHI, Yuanqing WANG, Yongzhi ZUO, Xiaohao SHI, Zaoyang GUO,

Journal Article

Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

Journal Article

Dynamic performance of submerged floating tunnel with different mooring styles subjected to anchor cable

Journal Article