| Description |
1 online resource : illustrations |
| Series |
Mechanisms and machine science, 2211-0984 ; v. 12 |
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Mechanisms and machine science ; v. 12.
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| Contents |
Part 1. Motion Planning -- Global Planning of Dynamically Feasible Trajectories for Three-DOF Spatial Cable-Suspended Parallel Robots / Clément Gosselin -- Experimental Validation of a Trajectory Planning Approach Avoiding Cable Slackness and Excessive Tension in Underconstrained Translational Planar Cable-Driven Robots / Alberto Trevisani -- Time-Energy Optimal Trajectory Planning of Cable-Suspended Manipulators / Mahdi Bamdad -- Navigating the Wrench-Feasible C-Space of Cable-Driven Hexapods / Oriol Bohigas, Montserrat Manubens and Lluís Ros |
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Part 2. Force Distribution -- A Tension Distribution Method with Improved Computational Efficiency / Johann Lamaury and Marc Gouttefarde -- Optimal Force Distribution Based on Slack Rope Model in the Incompletely Constrained Cable-Driven Parallel Mechanism of FAST Telescope / Hui Li, Xinyu Zhang, Rui Yao, Jinghai Sun and Gaofeng Pan, et al. -- Investigation of the Influence of Elastic Cables on the Force Distribution of a Parallel Cable-Driven Robot / Werner Kraus, Philipp Miermeister and Andreas Pott |
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Part 3. Application and Protoypes -- IPAnema: A family of Cable-Driven Parallel Robots for Industrial Applications / Andreas Pott, Hendrick Mütherich, Werner Kraus, Valentine Schmidt and Philipp Miermeister, et al. -- A Reconfigurable Robot for Cable-Driven Parallel Robotic Research and Industrial Scenario Proofing / Jean-Baptiste Izard, Marc Gouttefarde, Micaël Michelin, Olivier Tempier and Cedric Baradat -- Integration of a Parallel Cable-Driven Robot on an Existing Building Façade / Jean-Baptiste Izard, Marc Gouttefarde, Cedric Baradat, David Culla and Damien Sallé |
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Part 4. Design and Components -- Use of Passively Guided Deflection Units and Energy-Storing Elements to Increase the Application Range of Wire Robots / Joachim von Zitzewitz, Lisa Fehlberg, Tobias Bruckmann and Heike Vallery -- Use of High Strength Fibre Ropes in Multi-Rope Kinematic Robot Systems / Jens C. Weis, Björn Ernst and Karl -Heinz Wehking -- Workspace Improvement of Two-Link Cable-Driven Mechanisms with Spring Cable / Amir Taghavi, Saeed Behzadipour, Navid Khalilinasab and Hassen Zohoor -- The Constant-Orientation Dimensional Synthesis of Planar Cable-Driven Parallel Mechanisms Through Convex Relaxations / Kaveh Azizian and Philippe Cardou |
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Part 5. Kinematics and Interval Methods -- Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis / Seyed Ahmad Khalilpour, Azadeh Zarif Loloei, Hamid D. Taghirad and Mehdi Tale Masouleh -- Solving the Direct Geometrico-Static Problem of 3-3 Cable-Driven Parallel Robots by Interval Analysis: Preliminary Results / Alessandro Berti, Jean-Pierre Merlet and Marco Carricato -- Direct Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with 4 Cables / Marco Carricato and Ghasem Abbasnejad -- Implementing Extended Kinematics of a Cable-Driven Parallel Robot in Real-Time / Valentin Schmidt and Andreas Pott |
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Part 6. Calibration und Identification -- An Identification Methodology for 6-DoF Cable-Driven Parallel Robots Parameters Application to the INCA 6D Robot / Ryad Chellal, Edouard Laroche, Loïc Cuvillon and Jacques Gangloff -- Differential Kinematics for Calibration, System Investigation, and Force Based Forward Kinematics of Cable-Driven Parallel Robots / Philipp Miermeister, Werner Kraus and Andreas Pott |
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Part 8. Dynamics Modelling -- Geometric Stiffness Analysis of Wire Robots: A Mechanical Approach / Dragoljub Surdilovic, Jelena Radojicic and Jörg Krüger -- Stiffness Analysis of a Planar 2-DoF Cable-Suspended Mechanism While Considering Cable Mass / Marc Arsenault -- A Modeling Method of the Cable Driven Parallel Manipulator for FAST / Rui Yao, Hui Li and Xinyu Zhang -- Cable Vibration Analysis for Large Workspace Cable-Driven Parallel Manipulators / Jingli Du, Wen Ding and Hong Bao |
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Part 8. Control -- Experimental Performance of Robust PID Controller on a Planar Cable Robot / Mohammad A. Khosravi and Hamid D. Taghirad -- A Preliminary Study for H Control of Parallel Cable-Driven Manipulators / Edouard Laroche, Ryad Chellal, Loïc Cuvillon and Jacques Gangloff -- Trajectory Tracking for a Three-Cable Suspension Manipulator by Nonlinear Feedforward and Linear Feedback Control / Christoph Woernle |
| Summary |
This publication presents the outcome of the "First International Conference on Cable-Driven Parallel Robots" in 2012. This is the first conference to bring together the cable robot community and dedicate a forum for the international experts of this field. It contains the Know-how, ideas and experiences of active researchers developing cable-driven robots. The book presents the state of the art, including summarizing contributions and latest research results and, where relevant, the future outlook. The book covers the essential topics for cable-driven robots: classification and definition, kinematics, workspace analysis, cable modeling, control and calibration, design methodology, hardware/prototype development, experimental evaluation, application reports and new application concepts |
| Analysis |
Engineering |
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Engineering design |
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Robotics and Automation |
| Bibliography |
Includes bibliographical references and author index |
| Notes |
English |
| Subject |
Parallel robots -- Congresses
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TECHNOLOGY & ENGINEERING -- Engineering (General)
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Ingénierie.
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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 |
Bruckmann, Tobias
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Pott, Andreas, Dipl.-Ing.
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| ISBN |
9783642319884 |
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3642319882 |
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