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...

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Corporate Authors: International Conference on Cable-Driven Parallel Robots Krakow, Poland)
Other Authors: International Conference on Cable-Driven Parallel Robots, Pott, Andreas, Dipl.-Ing.,, 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:
Table of Contents:
  • 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.