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Author International Conference on Cable-Driven Parallel Robots (3rd : 2017 : Montréal, Québec)

Title Cable-driven parallel robots : proceedings of the third International Conference on Cable-Driven Parallel Robots / Clément Gosselin, Philippe Cardou, Tobias Bruckmann, Andreas Pott, editors
Published Cham, Switzerland : Springer, [2017]
©2018

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Description 1 online resource
Series Mechanisms and machine science, 2211-0984 ; volume 53
Mechanisms and machine science ; v. 53.
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
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
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
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
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
Artificial intelligence.
Engines & power transmission.
Dynamics & vibration.
Automatic control engineering.
Robotics.
TECHNOLOGY & ENGINEERING -- Engineering (General)
Parallel robots
Genre/Form proceedings (reports)
Conference papers and proceedings
Conference papers and proceedings.
Actes de congrès.
Form Electronic book
Author Gosselin, Clément, editor.
Cardou, Philippe, editor
Bruckmann, Tobias, editor
Pott, Andreas, editor
ISBN 9783319614311
3319614312