Ghasem Abbasnejad

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The direct geometrico-static problem of cable-driven parallel robots with 5 cables is presented. The study provides procedures for the identification of all equilibrium poses of the end-effector when cable lengths are assigned. A leastdegree univariate polynomial in the ideal governing the problem is obtained, thus showing that the latter has 140 solutions(More)
We report the control and simulation of a planar cable-driven parallel robot with four cables. The application of the robot is to fully control the lower limb, shank, for gait rehabilitation. The main challenge in control of the cable-driven parallel robot is to avoid negative cable tensions during dynamic motions. For this purpose a redundant robot with(More)
This paper studies the direct geometrico-static problem of underconstrained cable-driven parallel robots supported by n cables, with n ≤ 6. The task consists in identifying the equilibrium poses of the end-effector when cable lengths are specified. The problem is challenging, because the end-effector preserves some freedoms after cable lengths are(More)
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