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 design of a new cable-driven robot for large-scale manipulation is presented with focus
on the tension condition in the cables. In this robot, the arrangement of the cables is such …

This paper analyzes a set of dynamic trajectories for planar two-dof redundantly actuated
cable-suspended parallel mechanisms. In recent literature, the global dynamic trajectory …

A cable-driven parallel manipulator (CDPM) adopts flexible cables instead of rigid limbs,
connecting the base and the end effector. When gravity is considered as a virtual cable, the …

The wrench-closure workspace (WCW) of parallel cable-driven mechanisms is the set of
poses for which any wrench can be produced at the end-effector by a set of positive cable …

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 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 …

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 …

This article proposes a deduction method of algebraic expression of static wrench-closure
workspace boundary for planar 3-degree-of-freedom cable-driven parallel robots based on …

Les mécanismes parallèles entraînés par câbles sont une classe spéciale de
mécanismes parallèles pours lesquels les liaisons rigides sont remplacées par des …