3 accepted papers
This paper presents the design, modeling, and experimental validation of a macro-micro robot featuring a 2-degrees-of-freedom (DOF) serial underactuated mechanism mounted on a cable-driven pulley. The main contribution consists in demonstrating that, by ensuring a specific mass distribution, the sys
In this paper, a planar underactuated cable-driven micro-macro robot is presented. The system consists of two-link passive serial manipulator attached to a cable-suspended parallel robot. The system is conceived for applications requiring point-to-point motions inside large workspaces in the presenc
Adaptive cable-driven parallel robots can adjust the position of one or more pulley blocks to optimize performance within a given workspace. Because of their augmented kinematic redundancy, adaptive systems have several advantages over their traditional counterparts featuring the same numbers of cab…