On design of a redundant wire-driven parallel robot WARP manipulator

Maeda, Kazuho; Tadokoro, Satoshı; Takamori, Toshi; Hiller, Manfred; Verhoeven, Richard

doi:10.1109/robot.1999.772403

Cited by 114 publications

(61 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Furthermore, a 7-cable 6 DOFs cable-driven parallel manipulator was analyzed in their case study concerning modeling method and workspace calculation. It is also worth noting that the dynamic performance can be improved by increasing tensions based on the relationship of stiffness and tension in this kind of cable robot and it is verified in the experiments [17,61,62].…”

Section: Falcon-7 and Warpsupporting

confidence: 54%

An Overview of the Development for Cable-Driven Parallel Manipulator

Tang

2014

Advances in Mechanical Engineering

View full text Add to dashboard Cite

In the last two decades, cable-driven parallel robots have attracted a lot of attention in robot community as a hot topic of robot research. In this paper, the development of the cable-driven parallel manipulator is first introduced in general. Second, the latest advance in theory and applications of cable-driven parallel manipulator is presented in detail, especially some notable implementations. Finally, an other probable application foresight with this cable manipulator is proposed and discussed.

show abstract

Section: Falcon-7 and Warpsupporting

confidence: 54%

An Overview of the Development for Cable-Driven Parallel Manipulator

Tang

2014

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…This kind of workspace can be obtained by applying fast geometrical intersection detection method [41] or by experiment method [53].…”

Section: Collision-free Workpacementioning

confidence: 99%

“…In most studies [48,[51][52][53][54], the numerical approach is used to find out the corresponding workspace for a specific system. It means the entire structure space is discretized and exhaustively searched to find the matching workspace which is defined previously.…”

Section: Quantification Calculations and Numerical Examplementioning

confidence: 99%

Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots

Duan

2014

Advances in Mechanical Engineering

View full text Add to dashboard Cite

Large workspace is one of the promising advantages possessed by the cable-driven parallel robots (CDPR) over the conventional rigid-link robots. This paper focuses on the dynamic analysis and workspace classification based on the general motion equation of cable robot and the unilateral property of cables. The combinations of different types of two conditions lead to several different types of workspace, including static equilibrium workspace, wrench closure workspace, wrench feasible workspace, dynamic workspace, and collision-free workspace. A qualitative comparison of different types of workspaces is performed. The simulation results verify the relationship between the several types of workspaces.

show abstract

“…Aspects of practical application and control are investigated in his project MARIONET which is referenced in section 3. Tadokoro developed the wire robot WARP (WIREPULLER-ARM-DRIVEN REDUNDANT PARALLEL MANIPULATOR) for highly dynamical motions (Maeda et al, 1999; and as a rescue system after earthquakes (Tadokoro & Kobayashi, 2002;Tadokoro et al, 1999;Takemura et al, 2006). The acceleration potential was also exploited in the project FALCON (FAST LOAD CONVEYANCE) by Kawamura (Kawamura et al, 1995;2000).…”

Section: History and State Of The Artmentioning

confidence: 99%