Cable-Driven Parallel Robots (CDPRs) have several advantages over conventional parallel manipulators most notably a large workspace. CDPRs whose workspace can be further increased by modification of the geometric architecture are known as Reconfigurable Cable Driven Parallel Robots(RCDPRs). A novel concept of RCDPRs, known as Mobile CDPR (MCDPR) that consists of a CDPR carried by multiple mobile bases, is studied in this paper. The system is capable of autonomously navigating to a desired location then deploying to a standard CDPR. In this paper, we analyze the Static equilibrium (SE) of the mobile bases when the system is fully deployed. In contrast to classical CDPRs we show that the workspace of the MCDPR depends, not only on the tension limits, but on the SE constraints as well. We demonstrate how to construct the Available Wrench Set (AWS) for a planar MCDPR wih a point-mass end-effector using both the convex hull and Hyperplane shifting methods. The obtained results are validated in simulation and on an experimental platform consisting of two mobile bases and a CDPR with four cables.

Cable-Driven Parallel Robots (CDPRs) contain numerous advantages over conventional manipulators mainly due to their large workspace. Reconfigurable Cable-Driven Parallel Robots (RCDPRs) can increase the workspace of classical CDPRs by modifying the geometric architecture based on the task feasibility. This paper introduces a novel concept of RCDPR, which is a Mobile CDPR (MCDPR) mounted on multiple mobile bases allowing the system to autonomously reconfigure the CDPR. A MCDPR composed of two mobile bases and a planar CDPR with four cables and a point mass is studied as an illustrative example. As the mobile bases containing the exit points of the CDPR are not fixed to the ground, the static and dynamic equilibrium of the mobile bases and the moving-platform of the MCDPR are firstly studied. Then, a real time Tension Distribution Algorithm (TDA) that computes feasible and continuous cable tension distribution while guaranteeing the static stability of mobile bases and the equilibrium of the moving-platform of a n = 2 Degree of Freedom (DoF) CDPR driven by n+2 cables is presented.

Many molecular machines are built from modular components with well-defined motile capabilities, such as axles and wheels. Hinges are particularly useful, as they provide the minimum flexibility needed for a simple and pronounced conformational change. Compounds with multiple stable conformers are common, but molecular hinges almost exclusively operate via dihedral rotations rather than truly hinge-like clamping mechanisms. An ideal molecular hinge would better reproduce the behavior of hinged devices, such as gates and tweezers, while remaining soluble, scalable, and synthetically versatile. Herein, we describe two isomeric macrocycles with clamp-like open and closed geometries, which crystallize as separate polymorphs but interconvert freely in solution. An unusual one-pot addition cyclization reaction was used to produce the macrocycles on a multigram scale from inexpensive reagents, without supramolecular templating or high-dilution conditions. Using mechanistic information from NMR kinetic studies and at-line mass spectrometry, we developed a semicontinuous flow synthesis with maximum conversions of 85–93% and over 80% selectivity for a single isomer. The macrocycles feature voids that are sterically protected from guests, including reactive species such as fluoride ions, and could therefore serve as chemically inert hinges for adaptive supramolecular receptors and flexible porous materials.

Mobile Cable-Driven Parallel Robots (MCDPRs) are special type of Reconfigurable Cable Driven Parallel Robots (RCDPRs) with the ability of undergoing an autonomous change in their geometric architecture. MCDPRs consists of a classical Cable-Driven Parallel Robot (CDPR) carried by multiple Mobile Bases (MBs). Generally MCDPRs are kinematically redundant due to the additional mobilities generated by the motion of the MBs. As a consequence, this paper introduces a methodology that aims to determine the best kinematic redundancy scheme of Planar MCDPRs (PMCDPRs) with one degree of kinematic redundancy for pick-and-place operations. This paper also discusses the Static Equilibrium (SE) constraints of the PMCDPR MBs that are needed to be respected during the task. A case study of a PMCDPR with two MBs, four cables and a three degree-of-freedom (DoF) Moving Platform (MP) is considered.

The subject of this paper is about the design, modeling, control and performance evaluation of a low cost and versatile robotic solution for logistics. The robot under study, named FASTKIT, is obtained from a combination of mobile robots and a Cable-Driven Parallel Robot (CDPR). FASTKIT addresses an industrial need for fast picking and kitting operations in existing storage facilities while being easy to install, keeping existing infrastructures and covering large areas. The FASTKIT prototype consists of two mobile bases that carry the exit points of the CDPR. The system can navigate autonomously to the area of interest. Once the desired position is attained, the system deploys the CDPR in such a way that its workspace corresponds to the current task specification. The system calculates the required mobile base position from the desired workspace and ensures the controllability of the platform during the deployment. Once the system is successfully deployed, the set of stabilizers are used to ensure the prototype structural stability. Then the prototype gripper is moved accurately by the CDPR at high velocity over a large area by controlling the cable tension.