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Control accuracy and consistent initial home posture is essential when we compare and analyze control algorithms. In general, in order to reduce the accumulative error of the controlling process or estimate the initial posture, the robot system need to return to its approximate home posture firstly. According to the structural characteristics of the cable-driven parallel robot, this paper describes...
Cable-driven spherical joint is a 3-DOF closed-loop mechanism which transmits motion and force of the driver on the base to the moving platform via cables. It combines the merits of cable-driven and parallel mechanism. This paper introduces a 4-cable-driven parallel structure with 3-DOF and uses a specific methodology to optimize structural parameters of the spherical joint. Based on the analysis...
To improve the load capacity of the manipulator, based on the geometry analysis and screw theory, this paper is focused on the configuration design, cable-driven manner, and kinematics control for a cable-driven 7-DOF manipulator. First, aimed at the choice of cables-driven manners, a cable-driven mechanism that is coupled between elbow and wrist, and between shoulder and elbow is designed. Second,...
Cable-driven mechanisms have high load capacity. Motivating from the latest research results of humanoid-arm bionics and parallel manipulators, a novel design of cable-driven humanoid-arm, which combines the merits of cable-driven and parallel mechanism, is proposed. This paper introduces the specific structure of cable-driven humanoid-arm. The modes of cables distribution and the coupling among joints...
A hybrid-driven approach, consisting of cable-driven and convention-driven designs, for a 7-DOF manipulator, is proposed in this paper. This approach combines the merits of cable-driven parallel mechanism and modular serial structure, so that the workspace of the manipulator is larger than that of conventional cable-driven design. The paper first introduces the hybrid mechanism design of the manipulator...
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