Cable-Driven Parallel Robots

Theory and Application

  • AndreasĀ Pott

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 120)

Table of contents

  1. Front Matter
    Pages i-xxiv
  2. Andreas Pott
    Pages 1-13
  3. Andreas Pott
    Pages 15-43
  4. Andreas Pott
    Pages 45-117
  5. Andreas Pott
    Pages 119-155
  6. Andreas Pott
    Pages 157-227
  7. Andreas Pott
    Pages 229-254
  8. Andreas Pott
    Pages 255-285
  9. Andreas Pott
    Pages 287-369
  10. Andreas Pott
    Pages 371-413
  11. Andreas Pott
    Pages 415-419
  12. Back Matter
    Pages 421-465

About this book

Introduction

Cable-driven parallel robots are a new kind of lightweight manipulators with excellent scalability in terms of size, payload, and dynamics capacities. For the first time, a comprehensive compendium is presented of the field of cable-driven parallel robots. A thorough theory of cable robots is setup leading the reader from first principles to the latest results in research.

The main topics covered in the book are classification, terminology, and fields of application for cable-driven parallel robots. The geometric foundation of the standard cable model is introduced followed by statics, force distribution, and stiffness. Inverse and forward kinematics are addressed by elaborating efficient algorithms. Furthermore, the workspace is introduced and different algorithms are detailed. The book contains the dynamic equations as well as simulation models with applicable parameters. Advanced cable models are described taking into account pulleys, elastic cables, and sagging cables.

For practitioner, a descriptive design method is stated including methodology, parameter synthesis, construction design, component selection, and calibration. Rich examples are presented by means of simulation results from sample robots as well as experimental validation on reference demonstrators. The book contains a representative overview of reference demonstrator system. Tables with physical parameters for geometry, cable properties, and robot parameterizations support case studies and are valuable references for building custom cable robots.

For scientist, the book provides the starting point to address new scientific challenges as open problems are named and a commented review of the literature on cable robot with more than 500 references are given.

Keywords

Robotics Cable-driven Parallel Robots Statics Kinematics Dynamics Workspace Design Calibration Application Cable Modelling Practice Cable technologies

Authors and affiliations

  • AndreasĀ Pott
    • 1
  1. 1.StuttgartGermany

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-319-76138-1
  • Copyright Information Springer International Publishing AG, part of Springer Nature 2018
  • Publisher Name Springer, Cham
  • eBook Packages Engineering
  • Print ISBN 978-3-319-76137-4
  • Online ISBN 978-3-319-76138-1
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • About this book