Cédric Baradat

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Cable-driven robots are currently extensively studied. Generally, for this type of manipulators, cables are considered to be massless and inextensible. But for large working volume applications, their mass cannot be neglected. Based on a well-known model which describes the profile of a cable under the action of its own weight, the inverse and forward(More)
This paper introduces a new two-degree-of-freedom parallel manipulator producing two translations in the vertical plane. One drawback of existing robots built to realize those dof is their lack of rigidity along the transversal axis, another one being their limited ability to provide very high acceleration. Indeed, these architectures cannot be lightweight(More)
Generally, the cables of a parallel cable-driven robot are considered to be massless and inextensible. These two characteristics cannot be neglected anymore for large dimension mechanisms in order to obtain good positioning accuracy. A well-known model which describes the profile of a cable under the action of its own weight allows us to take mass and(More)
This paper introduces a new simplified static analysis of parallel robots driven by inextensible cables of non-negligible mass. It is based on a known hefty cable static modeling which seems to have been overlooked in previous works on parallel cable-driven robots. This cable modeling is obtained from a well-known sagging cable modeling, known as the(More)
In this paper, several considerations for designing industry oriented robots which combine the mobility of legged robots and advantages of parallel mechanisms are outlined. A tripod and a quadruped with the same kind of legs are studied. The robots' kinematic models are built for achieving the machining and walking scenarios. The simulations show that:(More)
This paper is dedicated to the geometry selection of a redundantly actuated cable-suspended parallel robot intended to manipulate heavy payloads over a wide workspace. Cable-suspended refers here to cable-driven parallel robots in a crane-like setting, where all the cable drawing points are located on top of the base frame, gravity being used to keep the(More)
This paper presents a novel 4 dofs (3T-1R<sup>(1)</sup>) parallel redundant mechanism, with its complete study regarding inverse and direct geometric models (IGM and DGM), as well as singularity and workspace analysis. The robot is capable of performing a half-turn about the z axis (a complete turn would be theoretically possible if it were not for possible(More)
An identi cation of the model parameters for a parallel cable-driven robot is performed by using both a calibration and a self-calibration approach. The manipulator studied is based on a parallel architecture having 8 cables to control the 6 degrees of freedom of its mobile platform so that the mobile platform is fully constrained by the cables. Under some(More)
This paper deals with the kinetostatic performance evaluation regarding translational and rotational motions of general robots with mixed operational degrees of freedom (dofs). Also, robots with different types of actuators can be analyzed based on the same approach without any problem. Besides, the generality of the approach embraces serial, parallel,(More)
This paper presents the locomotion approach of a novel quadruped robot which is able to carry various effectors for achieving manufacturing tasks in large workspaces. Equipped with lockers on some of the passive joints and clamping devices at the end of its limbs, this quadruped uses eight actuators for achieving manufacturing tasks as well as locomotion(More)