Titlebook: Cable-Driven Parallel Robots; Proceedings of the 4 Andreas Pott,Tobias Bruckmann Conference proceedings 2019 Springer Nature Switzerland AG

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Conference proceedings 2019and engineers at the 4th International Conference on Cable-Driven Parallel Robots (CableCon 2019), held in Krakow, Poland on June 30-July 4, 2019, as part of the 5th IFToMM World Congress. It covers the theory and applications of cable-driven parallel robots, including their classification, kinemati

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Chain Driven Robots: An Industrial Application Opportunity. A Planar Case Approachpositioning and maximizing the robot workspace are presented. As example, a 2 Degrees-of-Freedom planar manipulator has been designed and built. The robot can command a 60 kg payload into a 0.8 m × 1.8 m workspace using only two 150W DC motor.

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Analysis of Cable-Configurations of Kinematic Redundant Planar Cable-Driven Parallel Robotans that the proposed CDPR is a novel cable-driven parallel robot which simultaneously has the kinematic and actuation redundancies. Tactical design and control for the cable-configurations are proposed as the robot satisfies the wrench-closure condition.

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Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots stiffness matrix is derived. The stiffness and workspace of several examples of planar 2-DOF 3-differential CDPRs are then compared. The results of these comparisons illustrate that the stiffness of planar CDPRs can be significantly improved by means of pulley differentials.

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Kinetostatic Modeling of a Cable-Driven Parallel Robot Using a Tilt-Roll Wriste power is transmitted directly from the motors fixed on the frames to the tilt-roll wrist through cable loops. While most of the CDPRs only provide a limited range of rotation of the MP, the proposed manipulator is applicable for a relatively large and singularity-free rotation workspace thanks to its articulated MP.

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