Background

Cable robots have been developed at the University of Waterloo and are being commercialized by AEMK Systems Inc. In addition to DeltaBot (3 axis translational and 1 axis rotational), cable robots with 2 to 6 axes of motion have also been developed and are used in different applications.

For more information please see:

• Amir Khajepour , Saeed Behzadipour , Robert Dekker , and Edmon Chan, " L ight Weight Parallel Manipulators using Active/Passive Cables", US Patent pending.

• A. Khajepour, S. Behzadipour, R. Dekker, and E. Chan , "New Cable-based Ultra High Speed Robots, A Review", Proceedings of the International Conference on, Intelligent Manipulation and Grasping , IMG04, pp. 410-415, July 2004, Geneva, Italy.

• Behzadipour, S., Khajepour, A., "Design of Reduced DOF Parallel Cable-Based Robots", Journal of Mechanism and Machine Theory, 39(10), pp. 1051-1065, 2004.

• Behzadipour, S., and Khajepour, A., "A New Cable-Based Parallel Robot with Three Degrees of Freedom", Journal of Multibody System Dynamics, Volume 13, Number 4, pp. 371 - 383, 2005 .

• Dekker, R., Khajepour, A., and Behzadipour, S., "Design and Testing of an Ultra High-Speed Cable Robot", International Journal of Robotics and Automation, Vol. 21, pp. 25-34, 2006.

• Behzadipour, S., and Khajepour, A., "Time-Optimal Trajectory Planning in Cable-based Manipulators", IEEE Transaction on Robotics , Volume 22, Issue 3, pp. 559 - 563, 2006.

• Behzadipour , S., Khajepour, A., "Stiffness of Cable-based Parallel Manipulators with Application to Stability Analysis", ASME Journal of Mechanical Design , Vol. 128, No. 1, pp.303-310, 2006.