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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 kinematicchains and parallel mechanism theory.It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improvesKinematic 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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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-drivenparallel robot (Feriba-3) is developed.

Keywords： accuracy     cable-driven parallel robot     linear quadratic optimal 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: Masticatory robots are an effective in vitro performance testing device for dental material andA 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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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   

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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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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: Therefore, a design method for continuum robots based on the VCM mechanism is proposed in this study.

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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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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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0678-2

Abstract: their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, soft robotshigh efficiency, non-polluting characteristic, and environmental adaptability provide pneumatic soft robotsan important position in the field of soft robots.A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method

Keywords： pneumatic artificial muscles     soft robot     modeling approach     principle of virtual work     external load    

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Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 120-134 doi: 10.1007/s11465-012-0321-8

Abstract:

In this paper the effect of kinematic redundancy in order to reduce the singularity loci of the direct kinematics and to increase the operational, i.e., singularity-free, workspace is demonstrated. The proposed approach consists of additional prismatic actuators allowing one or more base joints to move linearly. As a result, a selective reconfiguration can be performed in order to avoid singular configurations. Exemplarily, kinematically redundant schemes of four structures, the 3RRR, the 3RPR, the 6UPS, and the 6RUS, are considered. The relationship between the redundancy and the operational workspace is studied and several analysis examples demonstrate the effectiveness of the proposed concept. Furthermore, the additional benefit of an increasing number of redundant actuators is discussed.

Keywords： parallel robots     kinematic redundancy     singularity avoidance     operational workspace    

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LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 308-316 doi: 10.1007/s11465-014-0318-6

Abstract:

Human-like torso features are essential in humanoid robots.

Keywords： humanoid robots     torso design     parallel manipulators (PKM)     conceptual design    

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Aerodynamic interference effects and mitigation measures on vortex-induced vibrations of two adjacent cable-stayed

Xiaoliang MENG, Ledong ZHU, Zhenshan GUO

Frontiers of Structural and Civil Engineering 2011, Volume 5, Issue 4,   Pages 510-517 doi: 10.1007/s11709-011-0129-3

Abstract: By examining the two neighboring Haihe Bridges with semi- and full-closed bridge decks, the aerodynamic interference between the two decks on the vortex-induced vibration (VIV) and the corresponding aerodynamic mitigation measures are investigated via a series of wind tunnel tests with a spring-suspended sectional model aided with computational fluid dynamics (CFD) method. The results show that the VIV responses of both bridges can be significantly affected by the aerodynamic interference and that the extent of the influence varies with the shapes of the windward and leeward decks. The VIV amplitudes of the windward bridge are often fairly close to those of the single bridge. However, those of the leeward bridge are magnified substantially by aerodynamic interference if the same structural and aerodynamic configurations are adopted for the two bridges. Otherwise, the VIV responses are not significantly increased and may even be reduced by the aerodynamic interference if different configurations are employed for the two bridges. Furthermore, an effective combined measure of adding wind barriers and sharpening the wind fairing noses of the two box decks is presented for mitigating both the vertical and torsional VIV responses of the windward and leeward bridges.

Keywords： separated parallel decks     vortex-induced vibration     aerodynamic interference     aerodynamic mitigation measure    

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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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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 204-212 doi: 10.1007/s11465-016-0380-3

Abstract: a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots

Keywords： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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Title Author Date Type Operation

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

Journal Article

Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

Journal Article

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

Journal Article

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

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

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

Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

Journal Article

Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Journal Article

Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

Journal Article

LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Journal Article

Aerodynamic interference effects and mitigation measures on vortex-induced vibrations of two adjacent cable-stayed

Xiaoliang MENG, Ledong ZHU, Zhenshan GUO

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

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Journal Article