2013 · 31 citations · 20 references
Robot KinematicsRobot ControlEngineeringNetwork RoboticsMechanical EngineeringMechatronicsField RoboticsIndustrial RoboticsMechanical SystemsSystems EngineeringAutomationIndustrial AutomationComputer EngineeringCable-driven Parallel RobotsCable-driven Parallel RobotRoboticsSystem ArchitectureCable Robots
Nowadays there are very little robot systems in operation in the field of medium to large-scale handling and assembly mostly due to lack of repetitive processes or shortcomings in programming and configuring such robots. In this paper we introduce a family of cable-driven parallel robot called IPAnema that are designed for industrial processes. We address the system architecture, key components such as winches and controller, as well as design tools. Furthermore, some experimental data from the evaluation are presented to illustrate the performance of cable robots.
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On design of a redundant wire-driven parallel robot WARP manipulator
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