Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-
driven kinematic chains and parallel mechanism theory. It inherits the high dynamics and …

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 …

Parallel robots are closed-loop mechanisms presenting very good performances in terms of
accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a …

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 …

The mobile platform of a parallel cable-driven mechanism is connected in parallel to a base
by lightweight links, such as cables. Since the cables can only work in tension, the set of …

This paper presents a method for analytically generating the boundaries of the wrench-
feasible workspace (WFW) for cable robots. This method uses the available net wrench set …

This paper presents the preliminary development of a full scale, portable, modular, fully
autonomous parallel wire crane that is intended to be used for rescue operations. This …

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 presents a new geometry-based method to determine if a cable-driven robot
operating in ad-degree-of-freedom workspace (2≤ d≤ 6) with n≥ d cables can generate a …

This paper introduces the available net wrench set, which is the set of all wrenches that a
cable robot can apply to its surroundings without violating tension limits in the cables. This …