Download Cable-Driven Parallel Robots: Proceedings of the Second by Andreas Pott, Tobias Bruckmann PDF

By Andreas Pott, Tobias Bruckmann

This quantity provides the end result of the second one discussion board to cable-driven parallel robots, bringing the cable robotic neighborhood jointly. It exhibits the hot rules of the energetic researchers constructing cable-driven robots. The ebook provides the cutting-edge, together with either summarizing contributions in addition to most recent examine and destiny recommendations. The publication hide all issues that are crucial for cable-driven robots:
Kinematics, Workspace and Singularity Analysis
Statics and Dynamics Cable Modeling
Control and Calibration
Design Methodology
Hardware Development
Experimental Evaluation
Prototypes, program experiences and new program concepts.

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Extra resources for Cable-Driven Parallel Robots: Proceedings of the Second International Conference on Cable-Driven Parallel Robots

Example text

Berti et al. and maintenance costs, ease of assembly and disassembly, high transportability, and superior modularity and reconfigurability. A CDPR is fully-constrained if the pose of the end-effector is completely determined when actuators are locked and, thus, all cable lengths are assigned. A CDPR is, instead, under-constrained if the end-effector preserves some degrees of freedom (dofs) once actuators are locked [5, 14]. Accordingly, to completely restrain the n dofs of the moving platform, the number of cables employed by a fully-constrained CDPR is usually greater or equal to n + 1, but it can be lowered to n when the robot is in crane configuration and gravity acts like an additional pulling wire.

L /ρ L Li = 1 1 6 6 ⎣ . ⎦ = −QLe , ρi τ6 M with τi ≥ 0, i = 1, . . , 6. 3 Description of the Algorithm The aim of the procedure described hereafter is to determine the different WFWs for all the 6-cable configurations of a CSPR with n ≥ 6 cables. First, the program reads the geometry of the n–n redundant CSPR at hand from a convenient input file and generates the corresponding C6n configurations of anchor points on the base and the platform. For each configuration, a basic interval-analysisbased algorithm is executed.

499 Coordinates of the platform anchor points Bi , 1 = 1 . . 998 q1 q4 + q2 q5 + q3 q6 = 0 Mk j ≤ qk ≤ Mk j k = 1, . . , 6 (8) The optimization problem emerging from relations (7) and (8) can be analytically solved with the generalized Lagrange multiplier method and thus implemented without using numeric optimization algorithms. 3 Examples and Discussion of Results This section presents the workspace analysis of all 6-cable configurations for the 8-8 cable robot CoGiRo [8] (whose geometry data are reported in Table 1), in relation to different trajectories.

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