Cable-Driven Parallel RobotsTobias Bruckmann, Andreas Pott Gathering presentations to the First International Conference on Cable-Driven Parallel Robots, this book covers classification and definition, kinematics, workspace analysis, cable modeling, hardware/prototype development, control and calibration and more. |
Contents
Part II Force Distribution | 69 |
Part III Application and Protoypes | 116 |
Part IV Design and Components | 165 |
Part V Kinematics and Interval Methods | 231 |
Part VI Calibration and Identification | 299 |
Part VII Control | 334 |
Part VIII Dynamics Modeling | 387 |
| 450 | |
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Common terms and phrases
acceleration actuated algorithm applications barycenter Bruckmann cable forces cable length cable mass cable robot cable tensions cable-driven parallel mechanisms Cable-Driven Parallel Robots Cartesian CDPMs CDPR computed Conference on Robotics configuration constraints coordinates COWCW defined driven parallel manipulator dynamic model Dyneema end-effector equations equilibrium feasible focal surface forward kinematics frame geometric given haptic high strength fibre IEEE IEEE International Conference implemented interval analysis inverse kinematics IPAnema Jacobian Jacobian matrix kinematic sensitivity linear Mech Merlet method mobile platform motion motor obtained optimization parallel cable-driven robot parameters path payload PCDPM PID control planar polynomial pose position Pott problem pulley real-time Robot Kinematics Robotics and Automation rotation sensors shown in Fig six-cable driven parallel solution solved spring cable static Stewart platforms stiffness matrix strength fibre ropes tendon-based tension distribution torque trajectory planning values variables vector velocity vertical vibration vlim winches wire robots workspace wrench