3 accepted papers
This work is a preliminary study assessing the feasibility of using cold-gas thrusters for active damping of flexible cable-driven parallel robots. The concept is validated experimentally on a planar robot embedding custom-built supersonic air thrusters operating at an industry-standard pressure lev…
Cable-Driven Parallel Robots (CDPRs) can execute fast motions across a large workspace. However, these performances are reached at the cost of a relatively low stiffness which often yields parasitic vibrations at the CDPR mobile platform. In this paper, vibration damping of CDPRs is addressed by mea…
Compared to other parallel robots, cable-driven parallel robots can achieve bigger workspace, higher dynamics with lighter parts and fewer energy while being economically competitive. However, such robots with big workspaces are affected either by cable sagging or by a very low end-effector stiffnes…