Description |
1 online resource |
Series |
Mechanisms and machine science, 2211-0984 ; volume 53 |
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Mechanisms and machine science ; v. 53.
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Contents |
Preface; Organization; Contents; Modelling; Modelling of Flexible Cable-Driven Parallel Robots Using a Rayleigh-Ritz Approach; 1 Introduction; 2 Flexible CDPR Modelling Using Rayleigh-Ritz Discretization; 2.1 Time-Dependent and Spatial Variables; 2.2 Dynamic Model of Half-System; 2.3 Energy-Based Model Simplification; 2.4 Constraint Equations and the Null Space Method; 3 Nonlinear System Analysis; 4 Linearized System Analysis; 5 Conclusion; References; Assumed-Mode-Based Dynamic Model for Cable Robots with Non-straight Cables; 1 Introduction; 2 Single Cable Modeling; 2.1 Single Cable Modeling |
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2.2 Cable Dynamic Model3 Planar Robot with n cables; 3.1 Dynamic Model; 4 Simulation Results; 5 Conclusion; References; Manipulator Deflection for Optimum Tension of Cable-Driven Robots with Parameter Variations; Abstract; 1 Introduction; 2 Formulation of Wrench and Stiffness; 2.1 Solution Sets for Cable Tension and Platform Deflection; 2.2 Subsets of Non-negative Solution; 3 Case Study; 3.1 Example 1 -- Positive Particular Solution; 3.2 Example 2 -- Negative Particular Solution; 4 Conclusions; References; Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots |
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1 Introduction2 Parametrization of the CAROCA Prototype; 3 Elasto-Geometric Modeling; 3.1 Inverse Elasto-Geometric Modeling (IEGM); 3.2 Direct Elasto-Geometrical Model (DEGM); 3.3 Static Deflection; 4 Error Modeling; 4.1 Geometrical Errors; 4.2 Mechanical Errors; 5 Sensitivity Analysis; 5.1 Influence of Mechanical Errors; 5.2 Influence of Geometrical Errors; 6 Conclusion; References; CASPR-ROS: A Generalised Cable Robot Software in ROS for Hardware; 1 Introduction; 2 Background; 2.1 System Model; 2.2 Models in CASPR; 2.3 Analysis in CASPR; 3 Interfacing Hardware in CASPR-ROS |
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3.1 Integrating CASPR with ROS3.2 Hardware Interfaces; 4 Experiments in CASPR-ROS; 4.1 Adding New Experiments; 4.2 Operating Procedure; 5 Experimental Results; 5.1 Case Study: Spatial Cable Robots Using PoCaBot Units; 5.2 Case Study: BioMuscular Arm Using MYO-muscles; 6 Conclusion; References; A Polymer Cable Creep Modeling for a Cable-Driven Parallel Robot in a Heavy Payload Application; Abstract; 1 Introduction; 2 CNU Cable Robot System and Creep Experiments; 2.1 CNU Cable Robot System; 2.2 Cable Creep Experiment; 3 Creeping Modeling and Parameters Estimation; 3.1 Cable Creep Modeling |
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3.2 Individual Model Parameters Estimation: Polynomial Fitting3.3 Dual Model Parameters Estimation: Surface Fitting; 4 Conclusion and Future Works; Acknowledgments; References; Bending Fatigue Strength and Lifetime of Fiber Ropes; 1 Introduction; 2 State of the Art in Rope Testing; 3 Rope Testing Under High Dynamic Parameters; 3.1 Tension-Tension Tests; 3.2 High-Dynamic Bending Tests; 4 Application in Cable Robot Design; 5 Conclusion; References; Bending Cycles and Cable Properties of Polymer Fiber Cables for Fully Constrained Cable-Driven Parallel Robots; 1 Introduction |
Summary |
This book presents proceedings of the third international conference in this field, continuing the success of the previous events. The peer-reviewed and the selected papers are arranged to make the proposed book the most recent and complete overview on the State-of-the-Art in Cable-Driven Parallel Robots! The conference took place 2017 in Quebec, QC, Canada, |
Notes |
Online resource; title from PDF title page (SpringerLink, viewed July 17, 2017) |
Subject |
Parallel robots -- Congresses
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Artificial intelligence.
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Engines & power transmission.
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Dynamics & vibration.
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Automatic control engineering.
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Robotics.
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TECHNOLOGY & ENGINEERING -- Engineering (General)
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Parallel robots
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Genre/Form |
proceedings (reports)
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Conference papers and proceedings
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Conference papers and proceedings.
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Actes de congrès.
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Form |
Electronic book
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Author |
Gosselin, Clément, editor.
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Cardou, Philippe, editor
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Bruckmann, Tobias, editor
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Pott, Andreas, editor
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ISBN |
9783319614311 |
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3319614312 |
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