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• W4387588250 abstract "Cable-driven manipulators (CDMs) can move in confined spaces due to their continuous bodies and multiple degrees of freedom (DOFs). However, most CDMs are only used to execute detecting tasks due to their single end effectors. Besides, their workspace are not large enough due to their fixed bases. In order to improve their workspace, flexibility and adaptability, this work designs a novel mobile CDM (MCDM) combined by a CDM and a wheeled platform. In addition, a lightweight cable-driven gripper is designed as an end effector for the novel robot to improve its operational capabilities. To control MCDM accurately, a multi-sensor system is designed and a close-loop control strategy is proposed. For further validation, a simulated and a physical prototypes of MCDM are conducted to execute a grasp task. Results verify the proposed mechanism and close-loop control method." @default.
• W4387588250 created "2023-10-13" @default.
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• W4387588250 date "2023-01-01" @default.
• W4387588250 modified "2023-10-14" @default.
• W4387588250 title "Design and Control of a Mobile Cable-Driven Manipulator with Experimental Validation" @default.
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• W4387588250 doi "https://doi.org/10.1007/978-981-99-6501-4_21" @default.
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