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Cable-Driven Parallel Robots

Proceedings of the 6th International Conference on Cable-Driven Parallel Robots

  • Conference proceedings
  • © 2023

Overview

Editors:
  1. Stéphane Caro

    1. École Centrale Nantes, CNRS, LS2N, Nantes Université, Nantes, France

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  2. Andreas Pott

    1. University of Stuttgart, Stuttgart, Germany

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    You can also search for this editor in PubMed   Google Scholar

  3. Tobias Bruckmann

    1. Chair of Mechatronics, University of Duisburg-Essen, Duisburg, Germany

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    You can also search for this editor in PubMed   Google Scholar

  • Written by leading experts in the field
  • Describes the state of the art in cable robots
  • Offers essential insights into a wide range of topics

Part of the book series: Mechanisms and Machine Science (Mechan. Machine Science, volume 132)

Included in the following conference series:

Conference proceedings info: CableCon 2023.

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Table of contents (36 papers)

  1. Front Matter

    Pages i-xii
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  3. Cable Modelling

    1. Front Matter

      Pages 53-53
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    2. FEM-Based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging

      • Karim Moussa, Eulalie Coevoet, Christian Duriez, Maxime Thieffry, Fabien Claveau, Philippe Chevrel et al.
      Pages 55-68

    3. Absolute Nodal Coordinate Finite Element Formulation of Cables for Dynamic Modeling of CDPRs

      • Chedli Bouzgarrou
      Pages 69-81

    4. Statics and Path of the Cables of a Cable-Driven Parallel Robot Wrapping on Surfaces

      • Hao Xiong, Yuchen Xu
      Pages 82-94

  4. Workspace

    1. Front Matter

      Pages 95-95
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    2. Model-Based Workspace Assessment of a Planar Cable-Driven Haptic Device

      • Max B. Schäfer, Sophie Weiland, Lukas Worbs, Ing Tien Khaw, Peter P. Pott
      Pages 97-108

    3. Payload Placement on Board a Cable-Driven Parallel Robot with Workspace Including Tilt

      • Jean-Baptiste Izard
      Pages 109-120

    4. Comparison Analysis of Tendon-Driven Manipulators Based on Their Wrench Feasible Workspace

      • Nicolas J. S. Testard, Christine Chevallereau, Philippe Wenger
      Pages 121-133

    5. On the Cable Actuation of End-Effector Degrees of Freedom in Cable-Driven Parallel Robots

      • Jean-Baptiste Izard, Marc Gouttefarde
      Pages 134-145

  5. Control and Dynamics

    1. Front Matter

      Pages 147-147
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    2. A Practical Approach for the Hybrid Joint-Space Control of Overconstrained Cable-Driven Parallel Robots

      • Valentina Mattioni, Edoardo Idà, Marc Gouttefarde, Marco Carricato
      Pages 149-160

    3. Brief Review of Reinforcement Learning Control for Cable-Driven Parallel Robots

      • Pegah Nomanfar, Leila Notash
      Pages 161-172

    4. Force Control of a 1-DoF Cable Robot Using ANARX for Output Feedback Linearization

      • Marcus Hamann, Valentin Höpfner, Christoph Ament
      Pages 173-183

    5. Energy-Efficient Control of Cable Robots Exploiting Natural Dynamics and Task Knowledge

      • Boris Deroo, Erwin Aertbeliën, Wilm Decré, Herman Bruyninckx
      Pages 184-196
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  1. Cable-Driven Parallel Robots

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About this book

This volume gathers the latest advances, innovations and applications in the field of cable robots, as presented by leading international researchers and engineers at the 6th International Conference on Cable-Driven Parallel Robots (CableCon), held in Nantes, France on June 25-28, 2023. It covers the theory and applications of cable-driven parallel robots, including their classification, kinematics and singularity analysis, workspace, statics and dynamics, cable modeling and technologies, control and calibration, design methodologies, hardware development, experimental evaluation and prototypes, as well as application reports and new application concepts. The contributions, which were selected through a rigorous international peer-review process, share exciting ideas that will spur novel research directions and foster new multidisciplinary collaborations.

Editors and Affiliations

  • École Centrale Nantes, CNRS, LS2N, Nantes Université, Nantes, France

    Stéphane Caro

  • University of Stuttgart, Stuttgart, Germany

    Andreas Pott

  • Chair of Mechatronics, University of Duisburg-Essen, Duisburg, Germany

    Tobias Bruckmann

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