Cable-Driven Parallel Robots

Front Matter....Pages i-xiv
Front Matter....Pages 1-1
Global Planning of Dynamically Feasible Trajectories for Three-DOF Spatial Cable-Suspended Parallel Robots....Pages 3-22
Experimental Validation of a Trajectory Planning Approach Avoiding Cable Slackness and Excessive Tension in Underconstrained Translational Planar Cable-Driven Robots....Pages 23-39
Time-Energy Optimal Trajectory Planning of Cable-Suspended Manipulators....Pages 41-51
Navigating the Wrench-Feasible C-Space of Cable-Driven Hexapods....Pages 53-68
Front Matter....Pages 69-69
A Tension Distribution Method with Improved Computational Efficiency....Pages 71-85
Optimal Force Distribution Based on Slack Rope Model in the Incompletely Constrained Cable-Driven Parallel Mechanism of FAST Telescope....Pages 87-102
Investigation of the Influence of Elastic Cables on the Force Distribution of a Parallel Cable-Driven Robot....Pages 103-115
Front Matter....Pages 117-117
IPAnema: A family of Cable-Driven Parallel Robots for Industrial Applications....Pages 119-134
A Reconfigurable Robot for Cable-Driven Parallel Robotic Research and Industrial Scenario Proofing....Pages 135-148
Integration of a Parallel Cable-Driven Robot on an Existing Building Façade....Pages 149-164
Front Matter....Pages 165-165
Use of Passively Guided Deflection Units and Energy-Storing Elements to Increase the Application Range of Wire Robots....Pages 167-184
Use of High Strength Fibre Ropes in Multi-Rope Kinematic Robot Systems....Pages 185-199
Workspace Improvement of Two-Link Cable-Driven Mechanisms with Spring Cable....Pages 201-213
The Constant-Orientation Dimensional Synthesis of Planar Cable-Driven Parallel Mechanisms Through Convex Relaxations....Pages 215-230
Front Matter....Pages 231-231
Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis....Pages 233-249
Solving the Direct Geometrico-Static Problem of 3-3 Cable-Driven Parallel Robots by Interval Analysis: Preliminary Results....Pages 251-268
Direct Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with 4 Cables....Pages 269-285
Implementing Extended Kinematics of a Cable-Driven Parallel Robot in Real-Time....Pages 287-298
Front Matter....Pages 299-299
An Identification Methodology for 6-DoF Cable-Driven Parallel Robots Parameters Application to the INCA 6D Robot....Pages 301-317
Differential Kinematics for Calibration, System Investigation, and Force Based Forward Kinematics of Cable-Driven Parallel Robots....Pages 319-333
Front Matter....Pages 387-387
Experimental Performance of Robust PID Controller on a Planar Cable Robot....Pages 337-352
A Preliminary Study for H $$_\\infty $$ Control of Parallel Cable-Driven Manipulators....Pages 353-369
Trajectory Tracking for a Three-Cable Suspension Manipulator by Nonlinear Feedforward and Linear Feedback Control....Pages 371-386
Geometric Stiffness Analysis of Wire Robots: A Mechanical Approach....Pages 389-404
Stiffness Analysis of a Planar 2-DoF Cable-Suspended Mechanism While Considering Cable Mass....Pages 405-421
A Modeling Method of the Cable Driven Parallel Manipulator for FAST....Pages 423-436
Cable Vibration Analysis for Large Workspace Cable-Driven Parallel Manipulators....Pages 437-449
Back Matter....Pages 451-452