Cable-Driven Parallel Robots : Proceedings of the Third International Conference on Cable-Driven Parallel Robots

Front Matter....Pages i-xii
Front Matter....Pages 1-1
Modelling of Flexible Cable-Driven Parallel Robots Using a Rayleigh-Ritz Approach....Pages 3-14
Assumed-Mode-Based Dynamic Model for Cable Robots with Non-straight Cables....Pages 15-25
Manipulator Deflection for Optimum Tension of Cable-Driven Robots with Parameter Variations....Pages 26-36
Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots....Pages 37-49
CASPR-ROS: A Generalised Cable Robot Software in ROS for Hardware....Pages 50-61
A Polymer Cable Creep Modeling for a Cable-Driven Parallel Robot in a Heavy Payload Application....Pages 62-72
Bending Fatigue Strength and Lifetime of Fiber Ropes....Pages 73-84
Bending Cycles and Cable Properties of Polymer Fiber Cables for Fully Constrained Cable-Driven Parallel Robots....Pages 85-94
Front Matter....Pages 95-95
A New Approach to the Direct Geometrico-Static Problem of Cable Suspended Robots Using Kinematic Mapping....Pages 97-105
Determination of the Cable Span and Cable Deflection of Cable-Driven Parallel Robots....Pages 106-116
Geometric Determination of the Cable-Cylinder Interference Regions in the Workspace of a Cable-Driven Parallel Robot....Pages 117-127
Twist Feasibility Analysis of Cable-Driven Parallel Robots....Pages 128-139
Initial Length and Pose Calibration for Cable-Driven Parallel Robots with Relative Length Feedback....Pages 140-151
Static Analysis and Dimensional Optimization of a Cable-Driven Parallel Robot....Pages 152-166
Improving the Forward Kinematics of Cable-Driven Parallel Robots Through Cable Angle Sensors....Pages 167-179
Direct Kinematics of CDPR with Extra Cable Orientation Sensors: The 2 and 3 Cables Case with Perfect Measurement and Ideal or Elastic Cables....Pages 180-191
Front Matter....Pages 193-193
Randomized Kinodynamic Planning for Cable-Suspended Parallel Robots....Pages 195-206
Rest-to-Rest Trajectory Planning for Planar Underactuated Cable-Driven Parallel Robots....Pages 207-218
Dynamically-Feasible Elliptical Trajectories for Fully Constrained 3-DOF Cable-Suspended Parallel Robots....Pages 219-230
Dynamic Transition Trajectory Planning of Three-DOF Cable-Suspended Parallel Robots....Pages 231-242
Front Matter....Pages 193-193
Transverse Vibration Control in Planar Cable-Driven Robotic Manipulators....Pages 243-253
Application of a Differentiator-Based Adaptive Super-Twisting Controller for a Redundant Cable-Driven Parallel Robot....Pages 254-267
Tension Distribution Algorithm for Planar Mobile Cable-Driven Parallel Robots....Pages 268-279
Improvement of Cable Tension Observability Through a New Cable Driving Unit Design....Pages 280-291
A Fast Algorithm for Wrench Exertion Capability Computation....Pages 292-303
Front Matter....Pages 305-305
Design and Analysis of a Novel Cable-Driven Haptic Master Device for Planar Grasping....Pages 307-318
On the Design of a Three-DOF Cable-Suspended Parallel Robot Based on a Parallelogram Arrangement of the Cables....Pages 319-330
On Improving Stiffness of Cable Robots....Pages 331-339
Optimal Design of a High-Speed Pick-and-Place Cable-Driven Parallel Robot....Pages 340-352
On the Improvements of a Cable-Driven Parallel Robot for Achieving Additive Manufacturing for Construction....Pages 353-363
Concept Studies of Automated Construction Using Cable-Driven Parallel Robots....Pages 364-375
Inverse Kinematics for a Novel Rehabilitation Robot for Lower Limbs....Pages 376-389
On the Design of a Novel Cable-Driven Parallel Robot Capable of Large Rotation About One Axis....Pages 390-401
Preliminary Running and Performance Test of the Huge Cable Robot of FAST Telescope....Pages 402-414
Back Matter....Pages 415-416