Redundant manipulators have potential advantages of using their degree (s) of redundancy
to satisfy additional task (s). To achieve desirable performance criteria, various optimization …

In this article, the workspace of planar wire-actuated parallel manipulators is studied. The
investigation is based on two methods: an analytical method which formulates the …

In this thesis, the redundancy resolution and failure analysis of Cable-Driven Parallel
Manipulators (CDPM) are investigated. A CDPM consists mainly of a Mobile Platform (MP) …

In the work presented, the redundancy resolution of planar wire-actuated parallel
manipulators is investigated at the torque level using analytical methods in order to perform …

In the work presented, the optimal trajectory planning in wire-actuated parallel manipulators
in the presence of an obstacle is investigated. The kinematics and dynamics of a wire …

This thesis focuses on the methods and results of the workspace formulation of wire-
actuated parallel manipulators. Four methods of workspace generation are studied. The null …

In this paper, the effect of variations in design parameters on the workspace of the wire-
actuated parallel manipulators is investigated. The static force/moment balance equations …

The objective of this paper is to investigate the layout for the translational planar wire–
actuated parallel manipulators to generate the largest possible workspace. The workspace …

Cette thèse propose une nouvelle famille de pantographes, les pantographes à
transmission par câbles (PTC). Les PTC sont définis comme des mécanismes permettant la …

A failure recovery methodology based on decomposing the platform task space into the
major and secondary subtasks is proposed which enables the manipulator to minimize the …