5 accepted papers
Cable elasticity can significantly impact the accuracy of Cable-Driven Parallel Robots (CDPRs). However, it’s frequently disregarded as negligible in CDPR simulations and designs. In this paper, we propose a numerical approach, referred to as SEECR, which is designed to estimate the behavior of a CD…
Cable-Driven Parallel Robots (CDPRs) are parallel robots with rigid links replaced by cables. As for most parallel robots the determination of the analytical solutions to the direct geometrico-static model (DGSM) is a difficult task that is often not feasible online. However, the knowledge of the mo…
Cable-driven parallel robots (CDPRs) are a type of parallel robots, where cables are used instead of rigid links. This leads to many advantages, such as large workspace, low mass in motion and simple reconfiguration. The drawbacks are accuracy issues and complex cable management. Indeed, it is usual…
Cable-driven parallel robots (CDPRs) are a kind of parallel robots that have cables instead of rigid links. Implementing vision-based control on CDPRs leads to a good final accuracy despite modeling errors and other perturbations in the system. However, unlike final accuracy, the trajectory to the g
In cable-driven parallel robots (CDPRs), rigid links are substituted by flexible cables. This change in actuation allows for a large workspace with a high payload to weight ratio, among other appealing characteristics. However, the accuracy for such systems needs to be improved to truly outperform c