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Keywords: cable driven
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Journal Articles

Active Cables Selection for Collocated Vibration Control of Small-Sized Overconstrained Cable-Driven Parallel Robots

Accepted Manuscript
Thibault Garcia, Didier Remond, Simon Chesne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1285
https://doi.org/10.1115/1.4067622
Published Online: January 10, 2025
...Thibault Garcia; Didier Remond; Simon Chesne Cable-driven parallel robots are well appreciated for high dynamics applications, due to their lightweights moving parts. Nevertheless, due to the low stiffness of cables, vibrations can occur and can degrade performances if high precision is required...
View Article titled, Active Cables Selection for Collocated Vibration Control of Small-Sized Overconstrained <span class="search-highlight">Cable</span>-<span class="search-highlight">Driven</span> Parallel Robots
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Topics: Cables, Dynamics (Mechanics), Robots, Vibration control
Journal Articles

On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-actuated Continuum Robots

Accepted Manuscript
Neel Shihora, Jared Lawson, Paul Moubarak, Maximilian Reese, Long Wang, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1386
https://doi.org/10.1115/1.4067432
Published Online: December 13, 2024
... 27 11 2024 02 12 2024 13 12 2024 Cable Driven Mechanisms and Robots Ethicon Endo-Surgery 10.13039/100005566 SRA00000096AM1 Journal of Mechanisms and Robotics. Received July 17, 2024; Accepted manuscript posted December 13, 2024. doi:10.1115/1.4067432 Copyright ©...
View Article titled, On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-actuated Continuum Robots
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Topics: Kinematics, Robots, Tension, Wire
Journal Articles

Modeling Backlash-Like Hysteresis and Feedforward Control of Tendon−Sheath Mechanism Pair with Arbitrary Shape: Excluding Distal Sensory Input

Junho Hong, Daehie Hong, Chanwoo Kim, Seong Hyeon Won
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051009.
Paper No: JMR-24-1154
https://doi.org/10.1115/1.4067020
Published Online: November 22, 2024
... 22 11 2024 tendon−sheath mechanism backlash-like hysteresis control strategy soft robotics cable driven kinematics dynamics and control of mechanical systems The tendon−sheath mechanism (TSM) represents a promising system of power transmission capable of traversing long...
View Article titled, Modeling Backlash-Like Hysteresis and Feedforward Control of Tendon−Sheath Mechanism Pair with Arbitrary Shape: Excluding Distal Sensory Input
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Topics: Feedforward control, Modeling, Shapes, Tendons, Calibration, Deformation, Degrees of freedom
Journal Articles

A Combined Strategy for Path Planning of Tensegrity Manipulators Considering Structural Stability

Tianxiao Mao, Hua Deng, Hongchuang Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051005.
Paper No: JMR-24-1316
https://doi.org/10.1115/1.4066853
Published Online: November 1, 2024
... exploring random tree method artificial potential field method cable driven motion and manipulation planning National Natural Science Foundation of China 10.13039/501100001809 52108178 Tensegrities [ 1 ] are a unique class of mechanical systems that are categorized as geometrically...
View Article titled, A Combined Strategy for Path Planning of Tensegrity Manipulators Considering Structural Stability
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Topics: Kinematics, Manipulators, Path planning, Structural stability, Tensegrity, Cables, Algorithms, Elongation
Includes: Supplementary data
Journal Articles

Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots

Jer Luen Chien, Clarissa Leong, Jingmin Liu, Shaohui Foong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121011.
Paper No: JMR-23-1648
https://doi.org/10.1115/1.4065370
Published Online: May 21, 2024
.... Des. , 144 ( 11 ), p. 111403 . 10.1115/1.4054938 [7] Chien , J. L. , Leong , C. T. L. , Liu , J. , Low , J. , and Foong , S. , 2021 , “ Kinematic Model Predictive Control for a Novel Tethered Aerial Cable-Driven Continuum Robot ,” 2021 IEEE/ASME International Conference...
View Article titled, Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots
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Topics: Friction, Robots, Tendons, Control equipment, Shapes
Journal Articles

Finite Element Method-Based Dynamic Modeling Framework for Flexible Continuum Manipulators

Md Modassir Firdaus, Omkar Dilip Paranjape, Madhu Vadali
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101013.
Paper No: JMR-23-1401
https://doi.org/10.1115/1.4064669
Published Online: March 5, 2024
... Abstract Figure cable driven soft robots continuum manipulators For a substantial period of time, the advancements in manipulator design have been centrally focused on the replication of human-like motion. Rigid-linked manipulators exhibit satisfactory performance characteristics...
View Article titled, Finite Element Method-Based Dynamic Modeling Framework for Flexible Continuum Manipulators
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Topics: Displacement, Manipulators, Shapes, Tendons, Tension, Steady state, Dynamic models, Damping