Cable interference control in physical interaction for cable-driven parallel mechanisms

R Meziane, P Cardou, MJD Otis - Mechanism and Machine Theory, 2019 - Elsevier
Cable interferences and collisions can lead to unpredictable behavior when a human
physically interacts with a cable-driven parallel mechanism through its mobile platform. This …

Failure recovery for wrench capability of wire-actuated parallel manipulators

L Notash - Robotica, 2012 - cambridge.org
Wire-actuated parallel manipulators and their failures are studied in this paper taking into
consideration their failure modes. A methodology for investigating the effect of wire/actuator …

Configuration synthesis for fully restrained 7-cable-driven manipulators

X Tang, L Tang, J Wang, D Sun - International Journal of …, 2012 - journals.sagepub.com
Cable distribution plays a vital role in Cable Driven Parallel Manipulators (CDPMs)
regarding tension and workspace quality, especially in fully restrained CDPMs. This paper …

Controllable workspace of cable-driven redundant parallel manipulators by fundamental wrench analysis

AZ Loloei, HD Taghirad - Transactions of the Canadian Society …, 2012 - cdnsciencepub.com
Workspace analysis is always a crucial issue in robotic manipulator design. This paper
introduces a set of newly defined fundamental wrenches that opens new horizons to …

Workspace formulation of planar wire-actuated parallel manipulators

D McColl, L Notash - Robotica, 2011 - cambridge.org
In this paper, a generalized form of the antipodal method from multi-finger grasping is
presented and implemented for investigating the workspace of a wide range of planar wire …

Deflection maps of planar elastic catenary cable-driven robots

L Notash - Journal of Mechanisms and Robotics, 2020 - asmedigitalcollection.asme.org
In this paper, the cable tension and platform deflection of cable-driven robots are studied.
The significance of cable density, elasticity, and cross-sectional area; platform mass, radius …

Motion Control of a Cable-Driven Parallel Robot Using Reinforcement Learning Deep Deterministic Policy Gradient Multi-Agent

P Nomanfar, L Notash - 2024 6th International Conference on …, 2024 - ieeexplore.ieee.org
Machine learning has demonstrated a great capacity to find solutions for various research in
the control and robotic realm. Reinforcement learning is a branch of machine learning which …

Analysis of cable-configurations of kinematic redundant planar cable-driven parallel robot

K Hirosato, T Harada - Cable-Driven Parallel Robots: Proceedings of the …, 2019 - Springer
A redundant planar three-dof cable-driven parallel robot is proposed and analysis of its
cable-configuration is discussed in this paper. Loop cables and constant force springs …

Workspace Generation of Planar Wire-Actuated Parallel Manipulators with Antipodal Method

D McColl, L Notash - ROMANSY 18 Robot Design, Dynamics and Control …, 2010 - Springer
This article presents an analytical solution to workspace generation of planar wire-actuated
parallel manipulators based on the planar antipodal theorem from multi-fingered grasping …

Workspace investigation of wire-actuated parallel manipulators with uncertainties in wire connections

L Notash, D McColl - … Design Engineering Technical …, 2010 - asmedigitalcollection.asme.org
In this article, the effect of uncertainties in wire connections on the workspace generation of
wire-actuated parallel manipulators is investigated. The geometric representations of …