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

By Andreas Pott, Tobias Bruckmann

This quantity offers the end result of the second one discussion board to cable-driven parallel robots, bringing the cable robotic neighborhood jointly. It exhibits the recent principles of the energetic researchers constructing cable-driven robots. The ebook provides the state-of-the-art, together with either summarizing contributions in addition to newest learn and destiny recommendations. The ebook disguise all themes 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 stories and new program concepts.

Show description

Read Online or Download Cable-Driven Parallel Robots: Proceedings of the Second International Conference on Cable-Driven Parallel Robots PDF

Similar products books

Rapid Prototyping Technology

A reference and textual content encompassing crucial features of fast prototyping expertise as a box. reports operation ideas and methods for many reliable freeform applied sciences and historic platforms information, selling layout and production equipment.

Practical Oscillator Handbook

Oscillators have routinely been defined in books for expert wishes and as such have suffered from being inaccessible to the practitioner. This ebook takes a realistic strategy and gives much-needed insights into the layout of oscillators, the servicing of structures seriously based upon them and the tailoring of useful oscillators to precise calls for.

Mrp II: Planning for Manufacturing Excellence

MRP II explores the rules of MRP II structures, and the way the producer can make the most of and institute them successfully for optimum revenue. The e-book will function a worthwhile specialist reference for brands instituting or using an MRP II scheduling process. it is going to even be a useful instructing device for the two- and four- 12 months university or collage courses, a reference for APICS certification evaluation, and carrying on with education schemes.

Optimization Methods: From Theory to Design Scientific and Technological Aspects in Mechanics

This booklet is set optimization options and is subdivided into components. within the first half a large evaluation on optimization thought is gifted. Optimization is gifted as being composed of 5 themes, specifically: layout of test, reaction floor modeling, deterministic optimization, stochastic optimization, and powerful engineering layout.

Additional info for Cable-Driven Parallel Robots: Proceedings of the Second International Conference on Cable-Driven Parallel Robots

Sample text

The influence of the parameters K 1 and Sa are visualized in Figs. 4 and 5. The selection of measurement samples was done according to a D-optimal design of experiments giving a set of tuples (pM,i , rM,i ), i = 1 . . n D where n D is the number of measurements and rM,i is the ith error function for the parameter identification problem given by (12) ri (p) = F(p, xi ) − FM,i Fig. 4 Parameter sensitivity of K 1 An Elastic Cable Model for Cable-Driven Parallel Robots . . 23 Fig. 5 Parameter sensitivity of Sa Assuming only small deviations Δp it is possible to use linearization around p0 which gives the Jacobian Jrp .

If sij (Xq ) = sij (Xp ) and Aj Bj is intersecting Ai Bi , then we consider that a collision between the two cables i and j occurred. In this algorithm, for a m-cable CDPR, step 1 requires to compute sij in (2) Ncc times: m · (m − 1) (4) Ncc = 2 The algorithm stops if there exists any i, j for which a collision occurs (thus, the times of performing steps 2 and 3 is N2,3 ≤ Ncc ). The presented algorithm considers that given the two arbitrary poses Xp and Xq , if a collision is detected, then there exists no collision free trajectory that allows the CDPR mobile platform to move from pose Xp to pose Xq (regardless of any trajectory planning method).

So, at the transition point, coming say from cable configuration 123456, at least one of the tensions must be equal to 0. If the next cable configuration is 123457, while the robot is moving toward the transition point (with cable 7 slack) the controller starts coiling cable 7 so that at the transition point it has the exact length needed to be taut. Then cable 6 is quickly uncoiled and the control continues the movement using the 123457 configuration. The presented interval-analysis procedure has wide margins of improvement.

Download PDF sample

Rated 4.95 of 5 – based on 13 votes