Journal ArticleDOI
Design, analysis and realization of tendon-based parallel manipulators.
TLDR
The tendon-based Stewart-Gough-platform as discussed by the authors is an innovative manipulator technology that allows the handling of heavy loads with high acceleration and low energy consumption, which is a promising design and contains a large potential of various research topics in mechanics and mechatronics.About:
This article is published in Mechanism and Machine Theory.The article was published on 2005-04-01. It has received 198 citations till now. The article focuses on the topics: Forward kinematics & Workspace.read more
Citations
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Journal ArticleDOI
Interval-Analysis-Based Determination of the Wrench-Feasible Workspace of Parallel Cable-Driven Robots
TL;DR: This paper deals with the wrench-feasible workspace (WFW) of n-degree-of-freedom parallel robots driven by n or more than n cables and illustrates how the proposed approach is capable of dealing with small uncertainties on the geometric design parameters of a parallel cable-driven robot.
Dissertation
Analysis of the Workspace of Tendon-based Stewart Platforms
TL;DR: In this article, a representation of the controllablwe workspace by means of polynomial inequalities is developed and optimal solutions are provided to the problem of finding appropriate force distributions in the tendons.
Book ChapterDOI
IPAnema: A family of Cable-Driven Parallel Robots for Industrial Applications
Andreas Pott,Hendrick Mütherich,Werner Kraus,Valentine Schmidt,Philipp Miermeister,Alexander Verl +5 more
TL;DR: This paper introduces a family of cable-driven parallel robot called IPAnema that are designed for industrial processes and addresses the system architecture, key components such as winches and controller, as well as design tools.
Journal ArticleDOI
Modeling, Identification, and Control of Tendon-Based Actuation Systems
TL;DR: A simple control strategy for the compensation of these nonlinear effects and the control of the force that is applied by the tendon to the load is proposed and experimentally verified.
Journal ArticleDOI
A survey on actuators-driven surgical robots
TL;DR: This study will comprehensively review on four main types of transmission systems namely cable-driven mechanism, flexible fluidic actuator, smart material actuators, and magnetic actuators in terms of conceptual designs, modelling, and control as well as their advantages and disadvantages.
References
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Journal ArticleDOI
An algorithm for solving the direct kinematics of general Stewart-Gough platforms
TL;DR: In this article, an algorithm for solving the direct kinematics of general Stewart-Gough platforms is introduced, where a minimal set of constraint equations obtained by a kinematic mapping to produce ultimately the univariate polynomial of 40th degree is used.
BookDOI
Advances in Robot Kinematics
M. M. Staniisic,Jadran Lenarčič +1 more
TL;DR: This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.
Journal Article
Study on multiple degree-of-freedom positioning mechanism using wires. I: Concept, design and control
Journal ArticleDOI
Forward displacement analysis of general six-in-parallel sps (stewart) platform manipulators using soma coordinates
TL;DR: In this article, the authors reformulated the forward displacement problem using a classical representation of rigid-body displacements: Study's soma coordinates, or equivalently, dual quaternions.
Book ChapterDOI
Workspace, Stiffness, Singularities and Classification of Tendon-Driven Stewart Platforms
TL;DR: A mathematical model for tendon-driven Stewart platform manipulators is developed and it is proved that there are six classes of manipulators that exert the same wrenches all over the workspace.