Download Design, Analysis and Control of Cable-suspended Parallel by Bin Zi, Sen Qian PDF

By Bin Zi, Sen Qian

This ebook presents an important evaluate of the authors’ paintings within the box of cable-suspended parallel robots, concentrating on cutting edge layout, mechanics, keep an eye on, improvement and functions. It provides and analyzes a number of regular mechanical architectures of cable-suspended parallel robots in sensible functions, together with the feed cable-suspended constitution for large antennae, hybrid-driven-based cable-suspended parallel robots, and cooperative cable parallel manipulators for a number of cellular cranes. It additionally addresses the basic mechanics of cable-suspended parallel robots at the foundation in their usual purposes, together with the kinematics, dynamics and trajectory monitoring keep watch over of the feed cable-suspended constitution for large antennae. furthermore it proposes a unique hybrid-driven-based cable-suspended parallel robotic that makes use of built-in mechanism layout easy methods to increase the functionality of conventional cable-suspended parallel robots. A comparative learn on mistakes and function indices of hybrid-driven established and standard cable-suspended parallel robots rounds out the coverage.
This ebook addresses the wishes of researchers, engineers and post-graduates within the box of cable-suspended parallel robots and similar areas.

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Extra resources for Design, Analysis and Control of Cable-suspended Parallel Robots and Its Applications

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This type of mechanism is called “incompletely restrained wire-suspended mechanism,” [14] and is able to control three-dimensional position and orientation of object by changing only length of wires. Experimental studies on the inner LT 5-m and outer LT 50-m model demonstrate the conclusion as shown in Figs. 3. For example, the results of LT 50-m model show that the angular tracking error and the position error can be less than 2° and 25 mm when the cabin reaches a pose angle of ±40°, respectively.

Verhoeven R, Hiller M, Tadokoro S (1998) Workspace, stiffness, singularities and classification of tendon-driven stewart platforms. Advances in robot kinematics: analysis and control. Springer, Netherlands, pp 105–114 26. Kawamura S, Choe W, Tanaka S, et al (1995) Development of an ultrahigh speed robot FALCON using wire drive system. 1995 IEEE international conference on robotics and automation, 1995. Proceedings. IEEE, vol 1. pp 215–220 27. Kawamura S, Kino H, Won C (2000) High-speed manipulation by using parallel wire-driven robots.

Owing to the coordinates of the joint A1 , A2 and A3 is just symmetric to that of the point A4 , A5 and A6 , as shown in Fig. 19, the length of cable vary symmetricly. Obviously, the plots shown in Fig.

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