Redundancy resolution of redundantly actuated cable-driven parallel robots (CDPRs) requires the computation of feasible and continuous cable tension distributions along a trajectory. This paper focuses on n-DOF CDPRs driven by n+2 cables since, for n = 6, these redundantly actuated CDPRs are relevant in many applications. The set of feasible cable tensions of n-DOF n+2-cable CDPRs is a two-dimensional convex polygon. An algorithm that determines the vertices of this polygon in a clockwise or counterclockwise order is first introduced. This algorithm is efficient and can deal with infeasibility. It is then pointed out that straightforward modifications of this algorithm allow the determination of various (optimal) cable tension distributions. A self-contained and versatile tension distribution algorithm is thereby obtained. Moreover, the worst-case maximum number of iterations of this algorithm is established. Based on this result, its computational cost is analyzed in detail, showing that the algorithm is efficient and real-time compatible even in the worst case. Finally, experiments on two 6-DOF 8-cable CDPR prototypes are reported.

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This paper presents an approach of using cabledriven parallel robots for automated construction. Masonry buildings are considered as appropriate application case due to repetitive construction procedures, high demands on quality as well as accuracy of construction, and handling of small and lightweight material. In this context, the application of Building Information Modeling (BIM) as data source is proposed. Furthermore, a simulation model representing the operation method of a wire robot is created to analyze the process of assembling a masonry wall. Special focus lies on creating collision-free motion profiles that can be exported to the robot control system.

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Uncertainties in the kinematic parameters like the pulley positions take a major influence onto the force capability of a cabledriven parallel robot. For that purpose this paper describes a calibration method to estimate exactly the underlying kinematic parameters. As the kinematic is influenced by a variety of different parameter, the calibration can be very complex and time consuming. In this approach, a sensitivity analysis of a cable-driven parallel robot is presented to simplify and enhance the calibration. The results are discussed and the further steps are introduced.