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Keywords: cable-driven parallel robots
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Journal Articles

A Three-Actuator Cable-Driven Parallel Robot With a Rectangular Workspace

Foroogh Behroozi, Ramin Mersi, Antoine Benoist, Ru Ying Yong, Philippe Cardou, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010905.
Paper No: JMR-23-1582
https://doi.org/10.1115/1.4065393
Published Online: June 17, 2024
...Foroogh Behroozi; Ramin Mersi; Antoine Benoist; Ru Ying Yong; Philippe Cardou; Stéphane Caro In the realm of cable-driven parallel robots (CDPRs), the conventional notion entails that each cable is directly actuated by a corresponding actuator, implying a direct relationship between the number...
View Article titled, A Three-Actuator <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robot</span> With a Rectangular Workspace
Open the PDF for A Three-Actuator <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robot</span> With a Rectangular Workspace in another window
Topics: Actuators, Cables, Robots, Pulleys
Journal Articles

An Underactuated Cable-Driven Parallel Robot for Marine Automated Launch and Recovery Operations

Michele Angelini, Edoardo Ida’, Daniele Bertin, Enrico Mantovani, Davide Bazzi, Vincenzo Orassi, Marco Carricato
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010906.
Paper No: JMR-23-1601
https://doi.org/10.1115/1.4065394
Published Online: June 17, 2024
...Michele Angelini; Edoardo Ida’; Daniele Bertin; Enrico Mantovani; Davide Bazzi; Vincenzo Orassi; Marco Carricato This article presents the feasibility study and preliminary testing of an underactuated cable-driven parallel robot for automated launch and recovery operations on the sea surface...
View Article titled, An Underactuated <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robot</span> for Marine Automated Launch and Recovery Operations
Open the PDF for An Underactuated <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robot</span> for Marine Automated Launch and Recovery Operations in another window
Topics: Cables, Control equipment, Robots, Simulation, Vessels
Journal Articles

Cable Path Analysis and Kinematic Control of a Cable-Driven Parallel Robot Allowing Cables to Wrap on Cylinders or Spheres

Hao Xiong, Yuchen Xu, Yuanjie Yu, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010903.
Paper No: JMR-23-1583
https://doi.org/10.1115/1.4064982
Published Online: June 7, 2024
...Hao Xiong; Yuchen Xu; Yuanjie Yu; Yunjiang Lou Scholars have proposed to allow cables to wrap on the base, the end-effector, or obstacles to expand the workspace of a cable-driven parallel robot (CDPR) in recent years. However, it is not entirely clear whether the path of a cable wrapped...
View Article titled, Cable Path Analysis and Kinematic Control of a <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robot</span> Allowing Cables to Wrap on Cylinders or Spheres
Open the PDF for Cable Path Analysis and Kinematic Control of a <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robot</span> Allowing Cables to Wrap on Cylinders or Spheres in another window
Topics: Cables, Kinematics, Cylinders
Journal Articles

Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics

Ryan J. Caverly, Sze Kwan Cheah, Keegan R. Bunker, Samir Patel, Niko Sexton, Vinh L. Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010904.
Paper No: JMR-23-1714
https://doi.org/10.1115/1.4065236
Published Online: June 7, 2024
...Ryan J. Caverly; Sze Kwan Cheah; Keegan R. Bunker; Samir Patel; Niko Sexton; Vinh L. Nguyen This article presents an algorithm to perform self-calibration of cable-driven parallel robots (CDPRs), where the CDPR’s end-effector pose is estimated in conjunction with the calibration of biases in CDPR’s...
View Article titled, Online Self-Calibration of <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robots</span> Using Covariance-Based Data Quality Assessment Metrics
Open the PDF for Online Self-Calibration of <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robots</span> Using Covariance-Based Data Quality Assessment Metrics in another window
Topics: Algorithms, Cables, Calibration, Errors, Kinematics, Simulation, Robots, End effectors
Journal Articles

A Cable-Based Haptic Interface With a Reconfigurable Structure

Bastien Poitrimol, Hiroshi Igarashi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010901.
Paper No: JMR-23-1599
https://doi.org/10.1115/1.4065318
Published Online: June 7, 2024
... , A. , 2013 , “ IPAnema: A Family of Cable-Driven Parallel Robots for Industrial Applications ,” Cable-Driven Parallel Robots , Vol. 12 , T. Bruckmann , and A. Pott , eds., Springer , Berlin/Heidelberg, Germany , pp. 119 – 134 . 10.1007/978-3-642-31988-4_8 [6] Chen , Q. , Zi...
View Article titled, A Cable-Based Haptic Interface With a Reconfigurable Structure
Open the PDF for A Cable-Based Haptic Interface With a Reconfigurable Structure in another window
Topics: Cables, End effectors, Haptics, Kinematics, Motors, Robots, Force feedback, Actuators, Feedback, Computation
Journal Articles

Type Synthesis of a 3DOF Wrist Applying the Coupled-Input Cable-Driven Parallel Robot

Shibo Liu, Jiangping Mei, Panfeng Wang, Fan Guo, Jiaxing Li, Shuai Wang, Ruizhi Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124502.
Paper No: JMR-23-1168
https://doi.org/10.1115/1.4065083
Published Online: April 23, 2024
...Shibo Liu; Jiangping Mei; Panfeng Wang; Fan Guo; Jiaxing Li; Shuai Wang; Ruizhi Wang The spatial cable-driven parallel robots (CDPRs) with low DOF (degree-of-freedom; n < 6) are like the physiological structure of bone and muscles, which are suitable for designing humanoid joints. Therefore...
View Article titled, Type Synthesis of a 3DOF Wrist Applying the Coupled-Input <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robot</span>
Open the PDF for Type Synthesis of a 3DOF Wrist Applying the Coupled-Input <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robot</span> in another window
Topics: Cables, Design, Topology, Winding (process), Robots, Actuators
Journal Articles

Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model

Jun Gao, Bin Zhou, Bin Zi, Sen Qian, Ping Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051008.
Paper No: JMR-21-1352
https://doi.org/10.1115/1.4053219
Published Online: February 21, 2022
...Jun Gao; Bin Zhou; Bin Zi; Sen Qian; Ping Zhao Cable-driven parallel robots (CDPRs) are a kind of mechanism with large workspace, fast response, and low inertia. However, due to the existence of various sources of error, it is unavoidable to bring uncertain cable lengths and lead to pose errors...
View Article titled, Kinematic Uncertainty Analysis of a <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robot</span> Based on an Error Transfer Model
Open the PDF for Kinematic Uncertainty Analysis of a <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robot</span> Based on an Error Transfer Model in another window
Topics: Cables, Errors, Kinematics, Pulleys, Uncertainty, Uncertainty analysis, Robots
Journal Articles

Design Control and Performance of a Cable-Driving Module With External Encoder and Force Sensor for Cable-Driven Parallel Robots

Hao An, Yongqing Zhang, Han Yuan, Wenfu Xu, Xin Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2022, 14(1): 014502.
Paper No: JMR-20-1548
https://doi.org/10.1115/1.4051608
Published Online: August 11, 2021
...Hao An; Yongqing Zhang; Han Yuan; Wenfu Xu; Xin Wang Cable-driven parallel robots (CDPRs) have the characteristic of easy deployment, which endows CDPRs with flexible workspace, freely configurable degrees-of-freedom (DOFs), and various configurations, greatly expanding their range of applications...
View Article titled, Design Control and Performance of a Cable-Driving Module With External Encoder and Force Sensor for <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robots</span>
Open the PDF for Design Control and Performance of a Cable-Driving Module With External Encoder and Force Sensor for <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> <span class="search-highlight">Parallel</span> <span class="search-highlight">Robots</span> in another window
Topics: Cables, Trajectories (Physics), Tension, Robots