A novel perspective in the design of cable-driven systems

ASME International Mechanical Engineering Congress and Exposition, Proceedings

Volumn 12, Issue , 2009, Pages 617-625

  Rosati, Giulio ^a   Zanotto, Damiano ^a  

^a UNIVERSITY OF PADOVA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

CABLES; COST EFFECTIVENESS; END EFFECTORS; MACHINE DESIGN; MANIPULATORS;

CABLE-DRIVEN; DESIGN CONCEPT; DESIRABLE FEATURES; DRIVEN SYSTEM; KEY ISSUES; NEW APPROACHES; NOVEL DESIGN; OPTIMISATIONS; WORKING SPACE; WORKSPACE ANALYSIS;

PULLEYS;

EID: 69949166675     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/IMECE2008-67272     Document Type: Conference Paper

References (26)

1. Williams II, R. L., and Gallina, P., 2001. "Planar cable-direct-driven robots, part i: Kinematics and statics". In Proceedings of the ASME Design Engineering Technical Conference, Vol.2, pp. 1233-1240.
2. Fattah, A., and Agrawal, S. K, 2005. "On the design of cable-suspended planar parallel robots". Journal of Mechanical Design, Transactions of the ASME, 127(5), pp. 1021-1028. (Pubitemid 41250126)
3. Rosati, G., Gallina, P., Rossi, A., and Masiero, S., 2006. "Wire-based robots for upper-limb rehabilitation". International Journal of Assistive Robotics and Mechatronics, 7(2), pp. 3-10.
4. Shen, Y., Osumi, H., and Arai, T., 1994. "Set of manipulating forces in wire driven systems". In Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Vol.3, pp. 1626-1631.
5. Lafourcade, P. Llibre, M., and Reboulet, C., 2002. "Design of a parallel wire-driven manipulator for wind tunnels". In Proceedings of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators.
6. Lafourcade, P., and Llibre, M., 2003. "First steps toward a sketch-based design methodology for wire-driven manipulators". In Proceedings of the 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Vol.1, pp. 143-148 vol.1.
7. Barrette, G., and Gosselin, C. M., 2005. "Determination of the dynamic workspace of cable-driven planar parallel mechanisms". Journal of Mechanical Design. Transactions of the ASME, 127(2), pp. 242-248. (Pubitemid 40608478)
8. Hiller, M., Fang, S., Mielczarek, S., Verhoeven, R., and Franitza, D., 2005. "Design, analysis and realization of tendon-based parallel manipulators". Mechanism and Machine Theory, 40(4), pp. 429-445. (Pubitemid 40183204)
9. Oh, S.-R., and Agrawal, S. K., 2005. "Cable suspended planar robots with redundant cables: Controllers with positive tensions". IEEE Transactions on Robotics, 21(3), pp. 457-465. (Pubitemid 40865793)
10. Diao, X., and Ma, O., 2007. "A method of verifying force-closure condition for general cable manipulators with seven cables". Mechanism and Machine Theory, 42( 12), pp. 1563-1576. (Pubitemid 47615145)
11. Shen, Y., Osumi, H., and Arai, T., 1994. "Manipulability measures for multi-wire driven parallel mechanism". In Proceedings of the IEEE International Conference on Industrial Technology, pp. 550-.
12. Surdilovic, D., Bernhardt, R., and Schmidt, T., 2003. "STRING-MAN: A new wire robotic system for gait rehabilitation". In Proceedings of the IEEE 8th International Conference on Rehabilitation Robotics ICORR2003.
13. Surdilovic, D., Zhang, J., and Bernhardt, R., 2007. "STRING-MAN: Wire-robot technology for safe, flexible and human-friendly gait rehabilitation". In Proceedings of the IEEE 10th International Conference on Rehabilitation Robotics ICORR2007, pp. 446-453.
14. Bosscher, P., Riechel, A. T., and Ebert-Uphoff, I., 2006. "Wrench-feasible workspace generation for cable-driven robots". IEEE Transactions on Robotics, 22(5), pp. 890-902. (Pubitemid 44604857)
15. Bosscher, P., and Ebert-Uphoff, I., 2006. "Disturbance robustness measures for underconstrained cable-driven robots". In Proceedings of the IEEE International Conference on Robotics and Automation ICRA 2006, pp. 4205-4212. (Pubitemid 44940712)
16. Voglewede, P. A., and Ebert-Uphoff, I., 2005. "Application of the antipodal grasp theorem to cable-driven robots". IEEE Transactions on Robotics, 21(4), pp. 713-718. (Pubitemid 41226899)
17. Gallina, P., Rosati, G., and Rossi, A., 2001. "3-d.o.f. wire driven planar haptic interface". Journal of Intelligent and Robotic Systems: Theory and Applications, 32(1), pp. 23-36. (Pubitemid 33105872)
18. Gallina, P., and Rosati, G., 2002. "Manipulability of a planar wire driven haptic device". Mechanism and Machine Theory, 37(2), pp. 215-228.
19. Rosati, G., Rossi, A., Boschetti, G., and Trevisani, A., 2007. "First experimental results of an integrated robotic system for haptic teleoperation". In Industrial Electronics, 2007. ISIE 2007. IEEE International Symposium on, pp. 3138-3143.
20. Rosati, G., Zanotto, D., and Rossi, A., 2008. "Performance assessment of a 3d cable-driven haptic device". In Proceedings of the ASME International Mechanical Engineering Congress & Exposition IMECE 2008.
21. Rosati, G., Gallina, P., and Masiero, S., 2007. "Design, implementation and clinical tests of a wire-based robot for neurorehabilitation". IEEE Transactions on Neural Systems and Rehabilitation Engineering, 15(4), pp. 560-569. (Pubitemid 350274177)
22. Rosati, G., Secoli, R., Zanotto, D., Rossi, A., and Boschetti, G., 2008. "Planar robotic systems for upper-limb post-stroke rehabilitation". In Proceedings of the ASME International Mechanical Engineering Congress & Exposition IMECE 2008.
23. Yamamoto, M., Yanai, N., and Mohri, A., 1999. "Inverse dynamics and control of crane-type manipulator". In Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol.2, pp. 1228-1233. (Pubitemid 30578021)
24. Yoshikawa, T., 1984. "Analysis and control of robot manipulators with redundancy.". In Proceedings of the 1st International Symposium on Robotics Research, pp. 735-747.
25. Sciavicco, L., and Siciliano, B., 2000. Modelling and control of robot manipulators, 2nd ed. Springer.
26. Gallina, P., Rossi, A., and Williams II, R. L., 2001. "Planar cable-direct-driven robots, part ii: Dynamics and control". In Proceedings of the ASME Design Engineering Technical Conference, Vol.2, pp. 1241-1247.