By Bruckmann, Tobias; Pott, Andreas

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Keywords Cable-driven hexapod · Tendon · Wire · Higher-dimensional continuation · Wrench-feasible C-space · Robocrane O. Bohigas (B) · M. Manubens · L. edu M. edu L. edu T. Bruckmann and A. 1007/978-3-642-31988-4_4, © Springer-Verlag Berlin Heidelberg 2013 53 54 O. Bohigas et al. 1 Introduction In recent years, cable-driven parallel mechanisms have been increasingly studied and applied to more and more relevant tasks, such as manipulation of heavy loads [7, 20], high-precision positioning [18], monitoring of aquatic environments [4, 13], automated construction of civil structures [5], rescue systems [19], or motion simulators [28], among others.

Trans. ASME J. Dynam. Syst. Meas. Control 118, 139–43 (1996) 16. : Cable-suspended robots: design, planning and control. , pp. 4275–4280, (2002). 17. : Planar translational cable-direct-driven robots: design for wrench exertion. J. Intell. Robot. Syst. 35, 203–219 (2002) Navigating the Wrench-Feasible C-Space of Cable-Driven Hexapods Oriol Bohigas, Montserrat Manubens and Lluís Ros Abstract Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform.

Modeling and control of a 3-DOF pendulum-like manipulator. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3964–3969 (2011). 24. : Dynamic modeling and active control of a cablesuspended parallel robot. Mechatronics 18, 1–12 (2008) 25. : Point-to-point motion planning of a parallel 3-DOF underactuated cable-suspended robot. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2325–2330. St-Paul, Minnesota (2012). Experimental Validation of a Trajectory Planning Approach Avoiding Cable Slackness and Excessive Tension in Underconstrained Translational Planar Cable-Driven Robots Alberto Trevisani Abstract The objective of this paper is providing the first experimental evidence of the effectiveness of an off-line trajectory planning approach developed to ensure positive and bounded cable tensions in under constrained planar two-degree-of-freedom translational cable robots.

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