This paper presents a review of the state of the art in the area of cable-driven parallel
mechanisms. The basic kinematic architecture of cable-driven parallel mechanisms is first …

Cable-driven parallel robots (CDPRs) have applications in large workspaces and at high
operating speeds, which necessitates considering the mass and elasticity of cables for …

In this paper we consider the problem of controlling multiple robots manipulating and
transporting a payload in three dimensions via cables. We develop robot configurations that …

Generating a defined motion is one of the fundamental tasks for a machine. By definition, a
robot is a universal machine dedicated to creating motion that can be freely programmed. A …

This paper deals with the wrench-feasible workspace (WFW) of n-degree-of-freedom
parallel robots driven by n or more than n cables. The WFW is the set of mobile platform …

This paper studies cable-driven parallel robots with less than six cables, in crane
configuration. A geometrico-static model is provided, and the stability of static equilibrium is …

A cable-driven parallel manipulator is a manipulator whose end-effector is driven by a
number of parallel cables instead of rigid links. Since cables always have more flexibility …

This paper addresses the determination of the force distribution in the cables of a
redundantly actuated cable-driven parallel mechanism. First, the static model of cable-driven …

This paper addresses the kinematics of cooperative transport of payloads suspended by
multiple aerial robots with cables. In such problems, it is important to determine the positions …

In this paper, we present a novel linear-program formulation that yields" optimally safe"(OS)
tension distributions in parallel cable-driven robots by the introduction of a slack variable …