Cable-based Robot Manipulators with Translational Degrees of Freedom

Abstract

2. Low inertia: Materials provide their highest strength-to-mass ratio when they are under tensile loading. Using cables, which can be only in tension, maximizes the use of material strength and therefore reduces the mass and inertia of the manipulator. Low inertia is desirable in many applications including high speed/acceleration robotics.3. Simplicity in structure: Cables simplify the robot structure by utilizing bending flexibility as kinematic joints and reducing the fabrication cost by minimizing the machining process.4. Reconfigurability and transportability: Winch assemblies can be simply relocated to reconfigure and adjust the workspace of a cable-driven manipulator. The ease of assembly/disassembly of these manipulators also facilitates their transportation and quick setup.5. Fully remote actuation: Using a fully cable-driven manipulator, all the actuators and sensitive parts are located away from the end-effector and the actual working area. Such manipulators best suit harsh or hazardous environments.

Kinematic and static analysis of a cable-driven parallel robot with a flexible link spine

“…1 belongs to the general cable-driven parallel mechanisms, which have attracted many research interests. Compared to traditional mechanisms, cable-driven parallel mechanisms have the advantages of large workspace, low inertia, high payload to weight ratio, reconfigurability, and fully remote actuation [5]. As a result, *The work is financial supported by the Excellent Young Teachers Programm of Southeast University (2242015R30024), and Six Talent Peaks Project of Jiangsu Province (2014-ZBZZ-001).…”

Design and Research of the Wire - Driven Lumbar Parallel Rehabilitation Device

“…It also has the characteristics of high precision, large load/weight ratio, no error accumulation of mechanism and good rigidity that the parallel robot has. In this paper, a new type of wire-driven lumbar parallel rehabilitation device is designed based on the wire-driven parallel robot to realize the purpose of rehabilitation training of the waist of the patient [4][5][6][7].…”

Unscented Kalman Filter and 3D vision to improve cable driven surgical robot joint angle estimation

“…Low inertia reduces the energy that is needed to move the link which is desirable in robot applications. Also, in a fully cable driven manipulator, sensitive parts are located away from the end-effector, which is then suitable for harsh environments [4], [5], [6]. In RSAs, due to sterilization, placement of tracking sensors or encoders on the end-effector is difficult [7].…”