Modelling and Simulation of a Cable-Based Parallel Manipulator as an Assisting Device

This paper presents an investigation on a robotic system as assisting device for elderly or people with motion disabilities. There is a high level of motivation for elderly (or disabled people) to perform basic daily-living activities independently. Therefore, it is of great interest to design safe and reliable assisting devices that are able to help end-users in daily life activities. Cable-based robots can accomplish the requirements of safety and flexibility because of their main characteristics. A 4-cable based parallel manipulator has been proposed in this paper as an assisting device to help people in the sit to stand transfer. A modelling and simulation in ADAMS environment are presented and discussed for the system operation.

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