Cable-driven parallel robots proceedings of the 4th International Conference on Cable-Driven Parallel Robots /
This volume gathers the latest advances, innovations, and applications in the field of cable robots, as presented by leading international researchers and engineers at the 4th International Conference on Cable-Driven Parallel Robots (CableCon 2019), held in Krakow, Poland on June 30-July 4, 2019, as...
| Corporate Authors: | International Conference on Cable-Driven Parallel Robots Krakow, Poland) |
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| Other Authors: | International Conference on Cable-Driven Parallel Robots, Pott, Andreas,, Bruckmann, Tobias,, SpringerLink (Online Service) |
| Format: | eBook |
| Language: | English |
| Published: |
Cham, Switzerland :
Springer,
[2019]
|
| Physical Description: |
1 online resource. |
| Series: |
Mechanisms and machine science ;
v. 74. |
| Subjects: |
| Summary: |
This volume gathers the latest advances, innovations, and applications in the field of cable robots, as presented by leading international researchers and engineers at the 4th International Conference on Cable-Driven Parallel Robots (CableCon 2019), held in Krakow, Poland on June 30-July 4, 2019, as part of the 5th IFToMM World Congress. It covers the theory and applications of cable-driven parallel robots, including their classification, kinematics and singularity analysis, workspace, statics and dynamics, cable modeling and technologies, control and calibration, design methodologies, hardware development, experimental evaluation and prototypes, as well as application reports and new application concepts. The contributions, which were selected through a rigorous international peer-review process, share exciting ideas that will spur novel research directions and foster new multidisciplinary collaborations. |
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| Item Description: |
Intro; Preface; Contents; Part I Design; 1 Planar Cable-Driven Robots with Enhanced Orientability; 1 Introduction; 2 Limited orientability of the moving platform in cable-driven robots; 2.1 Three-cable planar robot; 2.2 Four-cable robot; 3 Complete orientability in cable robots; 3.1 An extra cable to enhance orientation; 3.2 Re-calculated tensions for orienting in a given location; 4 Prototype; 4.1 Three-cable robot with complete orientability; 5 Closure; References; 2 Chain Driven Robots: An Industrial Application Opportunity. A Planar Case Approach; 1 Introduction. 2 Chain-Driven Robot vs Cable-Driven Robot3 Preliminary Prototype; 3.1 Prototype design; 3.2 Experimental platform; 3.3 Tension Analysis; 3.4 Workspace Analysis; 4 Results; 4.1 Experiments setup; 4.2 First movements; 5 Conclusions; Acknowledgements; References; 3 Non-slipping Conditions of Endless-Cable Driven Parallel Robot by New Interpretations ofthe Euler-Eytelwein's Formula; 1 Introduction; 2 Endless-cable driven parallel robot; 3 Statics of the endless-pulley; 3.1 single-drum and double-drums; 3.2 A new interpretation of the Euler-Eytelwein's formula. 3.3 Non-slipping condition of the endless-pulley4 Statics of the endless-winch; 4.1 Endless-winch system in the E-CDRP; 4.2 Statics and non-slipping condition of the endless-winch; 5 Statics of general E-CDPR; 6 Conclusions; Acknowledgement; References; 4 Analysis of Cable-Configurations of Kinematic Redundant Planar Cable-Driven Parallel Robot; 1 Introduction; 2 Mechanical design of unlimited rotatable CDPR; 2.1 Planar three-dof by five cables CDPR "SEIMEI"; 2.2 Modeling; 3 Expand the null space vector of the transposed Jacobian matrix; 3.1 wrench-closure condition; 3.2 Cable configurations. 3.3 Cofactor expansion of the null space vector of the transposedJacobian matrix4 Determine cable configurations; 4.1 Three kinematic parameters; 4.2 Verification of cable configurations of SEIMEI; 5 Simulation; 6 Conclusion; Acknowledgement; References; 5 Improving cable length measurements for large CDPR using the Vernier principle; 1 Introduction; 2 Approach; 3 The initialization problem: a first approach; 4 Number of marks; 5 Measuring cable lengths; 5.1 Significant sensor events; 5.2 Optimal configuration; 5.3 The initialization problem: a second approach; 6 Conclusion; References. Part II Kinematics and Static6 Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots; 1 Introduction; 2 Wrench and Jacobian Matrices; 3 Stiffness Analysis; 4 Results; 5 Conclusion; References; 7 Stability Analysis of Pose-Based Visual Servoing Control of Cable-Driven Parallel Robots; 1 Introduction; 2 Vision-Based Control of a CDPR; 2.1 CDPR Kinematics; 2.2 Pose-Based Visual Servoing; 3 Stability Condition; 3.1 Estimated Parameters; 4 Case Study; 4.1 ACROBOT and Simulation in V-REP; 4.2 Numerical Analysis; 4.3 Experimental Validation; 5 Conclusions; Acknowledgment; References. Includes index. 8 Practical Stability of Under-Constrained Cable-Suspended Parallel Robots. This volume gathers the latest advances, innovations, and applications in the field of cable robots, as presented by leading international researchers and engineers at the 4th International Conference on Cable-Driven Parallel Robots (CableCon 2019), held in Krakow, Poland on June 30-July 4, 2019, as part of the 5th IFToMM World Congress. It covers the theory and applications of cable-driven parallel robots, including their classification, kinematics and singularity analysis, workspace, statics and dynamics, cable modeling and technologies, control and calibration, design methodologies, hardware development, experimental evaluation and prototypes, as well as application reports and new application concepts. The contributions, which were selected through a rigorous international peer-review process, share exciting ideas that will spur novel research directions and foster new multidisciplinary collaborations. |
| Physical Description: |
1 online resource. |
| ISBN: |
9783030207519 303020751X |