On the connections between cable-driven robots, parallel manipulators and grasping

Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots

“…A number of researchers [1,[33][34][35] concept termed the cable force region is also explored by Osumi et al in [36].…”

“…A detailed discussion of this similarity can be found in [35,[37][38][39][40]. The first similarity is the unidirectional force whether in cables or fingers.…”

Wire Robot Suspension Systems for Wind Tunnels

“…Note, that this implementation cannot be used for realtime control since the worst-case run-time in each control cycle cannot be guaranteed a priori. Several approaches are known to handle this problem (Borgstrom et al, 2009;Bruckmann, Mikelsons, Brandt, Hiller & Schramm, 2008a;Bruckmann et al, 2007b;Bruckmann, Pott, Franitza & Hiller, 2006;Ebert-Uphoff & Voglewede, 2004;Fattah & Agrawal, 2005;Oh & Agrawal, 2005;Verhoeven, 2004). In this application, a force minimizing algorithm for realtime force distribution will be implemented, using a geometric approach (Bruckmann, 2010;Bruckmann et al, 2009;Mikelsons et al, 2008).…”

A generic force-closure analysis algorithm for cable-driven parallel manipulators

“…In recent years, CDPMs have been researched extensively [1][2][3][4][5][6] because of their advantages to provide a light-weight structure, low moving mass, and large reachable workspace. A CDPM has a light-weight structure with low moving mass because the actuators are always mounted onto the base.…”