Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots.

Hydrodynamic coefficients are essential for the development of underwater robots; in particular, for their design and navigation control. To obtain these coefficients, several techniques exist. These methods are usually experimental, but, more recently, some have been designed by a combination of experiments with computational methods based on Computational Fluid Dynamics (CFD).

Potential Energy Distribution of Redundant Cable-Driven Robot Applied to Compliant Grippers: Method and Computational Analysis.

Cable-driven parallel robots with a redundant configuration have infinite solutions for their cable tension distribution to provide a specific wrench to the end-effector. Redundancy is commonly used to increase the workspace and stiffness or to achieve secondary objectives like energetic minimization or additional movements. This article presents a method based on energy distribution to handle the redundancy of cable-driven parallel robots.

Cable-Driven Parallel Robot with Reconfigurable End Effector Controlled with a Compliant Actuator.

Redundancy in cable-driven parallel robots provides additional degrees of freedom that can be used to achieve different objectives. In this robot, this degree of freedom is used to act on a reconfigurable end effector with one degree of freedom. A compliant actuator actuated by one motor exerts force on both bodies of the platform.