Our study presents a novel design for a cable-driven robotic arm, emphasizing low cost, low inertia movement, and long-term cable durability. The robotic arm shares similar specifications with the UR5 robotic arm, featuring a total of six degrees of...
To address the problems of cable slackness and non-smooth cable-tension variation curves during the motion of an antagonistic cable-driven parallel robot (CDPR), this paper focuses on a three-degree-of-freedom (DOF) redundantly constrained CDPR. Firs...
One of the primary duties in the regular maintenance of electrical distribution networks is the cable stripping operation. In this paper, a unique robot is proposed to overcome drawbacks of the conventional manual operation of cable stripping, such a...
Relying on the research and development project of an auxiliary device for a submarine cable to cross a steel pipeline, with regard to a long-distance submarine cable crossing a pipeline, combined with a pipe-climbing robot and the laying of the subm...
Cable-Driven Parallel Robots (CDPR) have attracted significant research interest for applications ranging from cable-suspended camera applications to rehabilitation and home assistance devices. Most of the intended applications of CDPR involve direct...
Although cable driven robots are a type of parallel manipulators, the evaluation of their performances cannot be carried out using the performance indices already developed for parallel robots with rigid links. This is an obvious consequence of the p...
Cable-driven parallel robots can provide interesting advantages over conventional robots with rigid links; in particular, robots with a cable-suspended architecture can have very large workspaces. Recent research has shown that dynamic trajectories a...
Continuous robots have attracted more and more attention from the robotics community due to their high degree of flexibility and pliability, and have shown great potential for application in a variety of fields. With the continuous progress of materi...
Cable conduits are crucial for urban power transmission and distribution systems. However, current conduit robots are often large and susceptible to tilting issues, which hampers the effective and intelligent inspection of these conduits. Therefore,...
Cable-driven parallel robots (CDPRs) have been gaining much attention due to their many advantages over traditional parallel robots or serial robots, such as their markedly large workspace and lightweight design. However, one of the main issues that...
Cable-driven parallel robots offer significant advantages in terms of workspace dimensions and payload capability. Their mechanical structure and transmission system consist of light and extendable cables that can withstand high tensile loads. Cables...
Cable-driven parallel robots offer several benefits in terms of workspace size and design cost with respect to rigid-link manipulators. However, implementing an emergency procedure for these manipulators is not trivial, since stopping the actuators a...
In winter, stay cable sheaths are prone to icing, which increases cable loads and poses a falling-ice hazard upon thawing. While manual and chemical de-icing are common methods, their safety and cost drawbacks make robotic de-icing a promising altern...
Wrist movements play a crucial role in upper-limb motor tasks. As prosthetic and robotic hand technologies have evolved, increasing attention has been focused on replicating the anatomy and functionality of the wrist. Closely imitating the biomechani...
Three-dimensional (3D) printing technology has been greatly developed in the last decade and gradually applied in the construction, medical, and manufacturing industries. However, limited workspace and accuracy restrict the development of 3D printing...
In this paper, a Cable-Driven Parallel Robot developed to automate repetitive and essential tasks in crop production in greenhouse and urban garden environments is introduced. The robot has a suspended configuration with five degrees-of-freedom, comp...
The purpose of this study is to develop a robot that reduces labor and automates cable-laying work at construction sites. The robot should have the ability to pull lead cables over cable racks and ceiling spaces. Therefore, we propose a reconfigured...
To make the snake robot crawl quickly along the high-voltage cable, this paper employs the Simulated Annealing Algorithm (SAA) to find the optimal step size for the spiral-winding gait of the snake robot and improve its crawling speed along the high-...
Based on the anti-parallelogram mechanism, an approximate cylindrical rolling joint is proposed to develop a novel cable-driven snake-arm robot with multiple degrees of freedom (DOF). Furthermore, the kinematics of the cable-driven snake-arm robot ar...
Cable-driven parallel robots (CDPRs) have several advantages and have been widely used in many industrial fields, especially industrial applications that require high dynamics, high payload capacity, and a large workspace. In this study, a design mod...
This paper studies the stiffness of the parallel cable-driven upper limb rehabilitation robot (PCUR). Firstly, it was derived that the static stiffness expression of the PCUR was composed of platform pose stiffness KT and cable pose stiffness KS. It...
This study presents a novel rod–cable hybrid planar cable-driven parallel robot inspired by the biological synergy of bones and muscles. The design integrates rigid rods and flexible cables to enhance structural stability and precision in motio...
Precision agriculture requires robotic platforms capable of covering large cultivation areas while providing accurate positioning for localized crop monitoring and management operations. Cable-driven parallel robots (CDPRs) offer large workspaces and...
A cable-driven hybrid mobile robot is a kind of robot consisting of two modules connected in series, which uses multiple parallel cables to drive the moving platforms. Cable-driven robots benefit from a large workspace, low inertia, excellent dynamic...
In this study, we investigated dynamic control strategies for over-constrained cable-driven robots. In order to control a cable-driven robot, it is essential to address issues that arise from the restriction of cable tension, as well as to the redund...
This paper deals with the design of an optimal cable-driven parallel robot (CDPR) for upper limb rehabilitation. The robot’s prescribed workspace is identified with the help of an occupational therapist based on three selected daily life activi...
The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we stud...
Redundancy in cable-driven parallel robots provides additional degrees of freedom that can be used to achieve different objectives. In this robot, this degree of freedom is used to act on a reconfigurable end effector with one degree of freedom. A co...
Training ship crews for new scenarios at sea in reproducible sea conditions is weather-dependent and dangerous. The Maritime Research Institute Netherlands (MARIN) addresses this issue by offering a variety of different simulators to safely train peo...
With the increasing demand of human beings for space exploration, space robots show great development potential. When grasping space objects with different sizes and shapes, cable-driven continuum arms have better performance than traditional robots....
Cable-Driven Parallel Robots (CDPRs) use cables arranged in a parallel fashion to manipulate an end-effector (EE). They are functionally similar to several cranes that automatically collaborate in handling a shared payload. Thus, CDPRs share several...
A 10 kV distribution network is a crucial piece of infrastructure to guarantee enterprises’ and households’ access to electricity. Stripping cables is one of many power grid maintenance procedures that are now quickly expanding. However,...
Cable-driven parallel robots with a redundant configuration have infinite solutions for their cable tension distribution to provide a specific wrench to the end-effector. Redundancy is commonly used to increase the workspace and stiffness or to achie...
3D printing is a widely used technology that has been recently applied in construction to reduce construction time significantly. A large 3D printer often uses a traditional Cartesian robot with inherent problems, such as position errors and printing...
The synchronous continuum robot (SCR) was developed to emulate biological structures, such as animal tails and elephant trunks, based on continuum robot principles. By synchronizing disk motions, the SCR generates biologically inspired continuous mov...
This paper introduces a soft, cable-driven parallel robot for minimally invasive surgeries. The robot comprises a pneumatic inflatable scaffold, six hydraulic, folded pouch actuators, and a hollow, cylindrical end-effector offering five degrees of fr...
In construction, a large-scale 3D printing method for construction is used to build houses quickly, based on Computerized Aid Design. Currently, the construction industry is beginning to apply quite a lot of 3D printing technologies to create buildin...
Resolving inverse kinematics and evaluating constrained workspace remain challenging for multi-module cable-driven robots. This paper analyzes a dual-module cable-driven hybrid robot inspired by inchworm locomotion and proposes a new configuration-ba...
Safety is a significant evaluation index of rehabilitation medical devices and a significant precondition for practical application. However, the safety evaluation of cable-driven rehabilitation robots has not been reported, so this work aims to stud...
This paper proposes the preliminary results on a novel control architecture based on model predictive control (MPC) for cable-driven parallel robots (CDPRs) and applies them to a three degrees of freedom (3-DOF) robot with a suspended configuration,...
Aerial recovery and redeployment can effectively increase the operating radius and the endurance of unmanned aerial vehicles (UAVs). However, the challenge lies in the effect of the aerodynamic force on the recovery system, and the existing road-base...
Unmanned Aerial Vehicle (UAV) aerial recovery is a challenging task due to the limited maneuverability of both the transport aircraft and the UAV, making it difficult to establish an effective capture connection in the airflow field. In previous stud...
In a cable-driven parallel robot (CDPR), force sensors are utilized at each winch motor to measure the cable tension in order to obtain the force distribution at the robot end-effector. However, because of the effects of friction in the pulleys and t...
In the last decade, cable-suspended parallel robots have attracted significant interest due to their large workspaces and high dynamic performances. However, a significant drawback is that cables must always be in tension to control the motion. Using...
In this paper, a biped robot system for dynamic walking is presented. It has two 2-degree-of-freedom (DOF) lightweight legs and a 6-DOF hip. All the joint pulleys of the legs are driven by motors that are placed at the hip using steel cables. Since a...
With the rapid growth of underground cable trenches, the corresponding inspections become a heavy burden, and an intelligent inspection robot for automatic examinations in underground cable trenches would be a suitable solution. To achieve this, this...
Most trunk-like robots are designed with distributed actuators to mimic the envelope-grasping behavior of elephant trunks in nature, leading to a complex actuation system. In this paper, a modular underactuated elephant trunk-imitating robot based on...
Aiming at the problems of excessive dependence on manual operations, unquantifiable parameters, low hoisting efficiency, and low level of automation and informatization in the lifting process of spacecraft, a novel cable-driven parallel automatic lev...
The optimal design and the experimental validation of a cable-driven parallel robot is discussed in this paper. This novel device is intended for assisting therapists in the rehabilitation of the head–neck joint. First, the motion of the head&n...
In this paper, we investigated the cascade controller of a motor-driven deep-sea robot cable system (MDRCS), which consists of the outer loop system and the inner loop system connected by a motor thrust with unknown factors, typically forming a cruci...
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