Cable-Driven Parallel Robots

Editors:

ISBN: 978-3-642-31987-7 (Print) 978-3-642-31988-4 (Online)

Table of contents (27 chapters)

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  1. Front Matter

    Pages i-xiv

  2. Motion Planning

    1. Front Matter

      Pages 1-1

    2. No Access

      Book Chapter

      Pages 3-22

      Global Planning of Dynamically Feasible Trajectories for Three-DOF Spatial Cable-Suspended Parallel Robots

    3. No Access

      Book Chapter

      Pages 23-39

      Experimental Validation of a Trajectory Planning Approach Avoiding Cable Slackness and Excessive Tension in Underconstrained Translational Planar Cable-Driven Robots

    4. No Access

      Book Chapter

      Pages 41-51

      Time-Energy Optimal Trajectory Planning of Cable-Suspended Manipulators

    5. No Access

      Book Chapter

      Pages 53-68

      Navigating the Wrench-Feasible C-Space of Cable-Driven Hexapods

  3. Force Distribution

    1. Front Matter

      Pages 69-69

    2. No Access

      Book Chapter

      Pages 71-85

      A Tension Distribution Method with Improved Computational Efficiency

    3. No Access

      Book Chapter

      Pages 87-102

      Optimal Force Distribution Based on Slack Rope Model in the Incompletely Constrained Cable-Driven Parallel Mechanism of FAST Telescope

    4. No Access

      Book Chapter

      Pages 103-115

      Investigation of the Influence of Elastic Cables on the Force Distribution of a Parallel Cable-Driven Robot

  4. Application and Protoypes

    1. Front Matter

      Pages 117-117

    2. No Access

      Book Chapter

      Pages 119-134

      IPAnema: A family of Cable-Driven Parallel Robots for Industrial Applications

    3. No Access

      Book Chapter

      Pages 135-148

      A Reconfigurable Robot for Cable-Driven Parallel Robotic Research and Industrial Scenario Proofing

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      Book Chapter

      Pages 149-164

      Integration of a Parallel Cable-Driven Robot on an Existing Building Façade

  5. Design and Components

    1. Front Matter

      Pages 165-165

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      Book Chapter

      Pages 167-184

      Use of Passively Guided Deflection Units and Energy-Storing Elements to Increase the Application Range of Wire Robots

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      Book Chapter

      Pages 185-199

      Use of High Strength Fibre Ropes in Multi-Rope Kinematic Robot Systems

    4. No Access

      Book Chapter

      Pages 201-213

      Workspace Improvement of Two-Link Cable-Driven Mechanisms with Spring Cable

    5. No Access

      Book Chapter

      Pages 215-230

      The Constant-Orientation Dimensional Synthesis of Planar Cable-Driven Parallel Mechanisms Through Convex Relaxations

  6. Kinematics and Interval Methods

    1. Front Matter

      Pages 231-231

    2. No Access

      Book Chapter

      Pages 233-249

      Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis

    3. No Access

      Book Chapter

      Pages 251-268

      Solving the Direct Geometrico-Static Problem of 3-3 Cable-Driven Parallel Robots by Interval Analysis: Preliminary Results

    4. No Access

      Book Chapter

      Pages 269-285

      Direct Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with 4 Cables

    5. No Access

      Book Chapter

      Pages 287-298

      Implementing Extended Kinematics of a Cable-Driven Parallel Robot in Real-Time

  7. Calibration und Identification

    1. Front Matter

      Pages 299-299

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      Book Chapter

      Pages 301-317

      An Identification Methodology for 6-DoF Cable-Driven Parallel Robots Parameters Application to the INCA 6D Robot

    3. No Access

      Book Chapter

      Pages 319-333

      Differential Kinematics for Calibration, System Investigation, and Force Based Forward Kinematics of Cable-Driven Parallel Robots

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