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parallel-cable-driven-robot
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Geometric Analysis and Dynamic Trajectory of a 5-DOF Cable-Suspended Spatial Parallel Robot
, M.Sc. Thesis Sharif University of Technology ; Fallah, Famida (Supervisor) ; Zohoor, Hassan (Supervisor)
Abstract
Cable-driven parallel robots (CDPRs) form a class of robotic manipulator in which the actuation end-effector is transmitted through cables. Due to the unique characteristics and advantages of cable transmission, CDPRs have become increasingly studied in recent years. In this thesis, the study of Geometric Analysis and Dynamic Trajectory of a 5-DOF Cable-Suspended Spatial Parallel Robot is investigated. Geometric analysis is corresponds to the workspace on which the robot is designed. The design of cable mechanisms allows the robot to be used with appropriate configuration in various fields such as industry, medicine, etc. The study of CDPR design has been limited due to several reasons....
Kinematic and Dynamic Analysis and Workspace Optimization of a 3DoF Cable-Based Parallel Robot
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor)
Abstract
Cable-driven robots are referred to as parallel robots actuated with cables. In fact,in such robots rigid links are replaced by cables, which may be extended to desired lengths without making mechanism much heavy. This robot possesses a number of unique properties that makes it suitable for many industrial applications. The main factor which makes cable robots analysis different from other parallel robots is the incapability of cables to push objects. Hence, obtaining the workspace of a cable robot is one of the most important subjects associated with this type of robot.The goal of this thesis is to design a spatial translational cable driven robot, which may be used for object handling. For...