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In this paper a waist rehabilitation robot driven by cables and pneumatic artificial muscles (PAMs) has been conceptualized and designed. In the process of mechanism design, the human body structure, the waist movement characteristics, and the actuators' driving characteristics are the main considerable factors to make the hybrid-driven waist rehabilitation(More)
This paper deals with a methodology of simultaneous optimal design of mechanism and control for completely restrained hybrid-driven based cable parallel manipulators (HDCPM) in order to improve the dynamic performance of the HDCPM system. The HDCPM have the advantages of both the cable parallel manipulator and the hybrid-driven planar five-bar mechanism(More)
A particular emphasis is placed on the virtual prototype technology of a 2-DOF hybrid-driven planar parallel manipulator (HPPM). In this research, the workspace was expressed on the plane by using different assembly angles of the end effector of the HPPM. A virtual prototype of the HPPM is developed by employing Pro/Engineer, and the model was then(More)
In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension(More)
The design, dynamic modelling, and workspace are presented in this paper concerning cooperative cable parallel manipulators for multiple mobile cranes (CPMMCs). The CPMMCs can handle complex tasks that are more difficult or even impossible for a single mobile crane. Kinematics and dynamics of the CPMMCs are studied on the basis of (More)
This paper considers the problem of Collision Free Force Closure Workspace (CFFCW) determination for Reconfigurable Planar Cable-Driven Parallel Robots (RPCDPRs). The cluttered obstacles in environment and the radiate cable structure make this problem highly nontrivial. Firstly, the simplified model of general RPCDPR that with cluttered environment is(More)
This paper is concerned with trajectory control system of cable-based parallel mechanisms (CPM) based on dynamics. Firstly, the dynamic formulation of the CPM with non-negligible cable mass was established by means of Newton-Euler formulation. Secondly, considering the inherent characteristics of nonlinearity, slow time-variant, and multivariable coupled(More)
An automatic design platform capable of automatic structural analysis, structural synthesis and the application of parallel mechanisms will be a great aid in the conceptual design of mechanisms, though up to now such a platform has only existed as an idea. The work in this paper constitutes part of such a platform. Based on the screw(More)