
Cable-Driven Parallel Robots
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Content
- Intro
- Preface
- Contents
- Part I Design
- 1 Planar Cable-Driven Robots with Enhanced Orientability
- 1 Introduction
- 2 Limited orientability of the moving platform in cable-driven robots
- 2.1 Three-cable planar robot
- 2.2 Four-cable robot
- 3 Complete orientability in cable robots
- 3.1 An extra cable to enhance orientation
- 3.2 Re-calculated tensions for orienting in a given location
- 4 Prototype
- 4.1 Three-cable robot with complete orientability
- 5 Closure
- References
- 2 Chain Driven Robots: An Industrial Application Opportunity. A Planar Case Approach
- 1 Introduction
- 2 Chain-Driven Robot vs Cable-Driven Robot
- 3 Preliminary Prototype
- 3.1 Prototype design
- 3.2 Experimental platform
- 3.3 Tension Analysis
- 3.4 Workspace Analysis
- 4 Results
- 4.1 Experiments setup
- 4.2 First movements
- 5 Conclusions
- Acknowledgements
- References
- 3 Non-slipping Conditions of Endless-Cable Driven Parallel Robot by New Interpretations ofthe Euler-Eytelwein's Formula
- 1 Introduction
- 2 Endless-cable driven parallel robot
- 3 Statics of the endless-pulley
- 3.1 single-drum and double-drums
- 3.2 A new interpretation of the Euler-Eytelwein's formula
- 3.3 Non-slipping condition of the endless-pulley
- 4 Statics of the endless-winch
- 4.1 Endless-winch system in the E-CDRP
- 4.2 Statics and non-slipping condition of the endless-winch
- 5 Statics of general E-CDPR
- 6 Conclusions
- Acknowledgement
- References
- 4 Analysis of Cable-Configurations of Kinematic Redundant Planar Cable-Driven Parallel Robot
- 1 Introduction
- 2 Mechanical design of unlimited rotatable CDPR
- 2.1 Planar three-dof by five cables CDPR "SEIMEI"
- 2.2 Modeling
- 3 Expand the null space vector of the transposed Jacobian matrix
- 3.1 wrench-closure condition
- 3.2 Cable configurations
- 3.3 Cofactor expansion of the null space vector of the transposedJacobian matrix
- 4 Determine cable configurations
- 4.1 Three kinematic parameters
- 4.2 Verification of cable configurations of SEIMEI
- 5 Simulation
- 6 Conclusion
- Acknowledgement
- References
- 5 Improving cable length measurements for large CDPR using the Vernier principle
- 1 Introduction
- 2 Approach
- 3 The initialization problem: a first approach
- 4 Number of marks
- 5 Measuring cable lengths
- 5.1 Significant sensor events
- 5.2 Optimal configuration
- 5.3 The initialization problem: a second approach
- 6 Conclusion
- References
- Part II Kinematics and Static
- 6 Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots
- 1 Introduction
- 2 Wrench and Jacobian Matrices
- 3 Stiffness Analysis
- 4 Results
- 5 Conclusion
- References
- 7 Stability Analysis of Pose-Based Visual Servoing Control of Cable-Driven Parallel Robots
- 1 Introduction
- 2 Vision-Based Control of a CDPR
- 2.1 CDPR Kinematics
- 2.2 Pose-Based Visual Servoing
- 3 Stability Condition
- 3.1 Estimated Parameters
- 4 Case Study
- 4.1 ACROBOT and Simulation in V-REP
- 4.2 Numerical Analysis
- 4.3 Experimental Validation
- 5 Conclusions
- Acknowledgment
- References
- 8 Practical Stability of Under-Constrained Cable-Suspended Parallel Robots
- 1. Introduction
- 2. Kinematic Analysis
- 3. Stability of equilibrium
- 4. Practical tasks and stability
- 5. Examples
- 6. Conclusion
- 7. References
- 9 Singularity Characteristics of a Class of Spatial Redundantly actuated Cable-suspended Parallel Robots and Completely actuated ones
- 1 Introduction
- 2 Spatial Redundantly-actuated CSPR Description with Parallelogram Pairwise Cables
- 3 Kinetic Modelling
- 4 Singularity Analysis
- 5 Case Study
- 6 Conclusions
- Acknowledgments
- References
- 10 Kinetostatic Modeling of a Cable-Driven Parallel Robot using a Tilt-Roll Wrist
- 1 Introduction
- 2 Manipulator Architecture
- 3 Kinetostatic Model of the Tilt-Roll Wrist
- 4 Kinetostatic Model of the Manipulator
- 5 Workspace Analysis
- 6 Conclusions
- References
- 11 Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation
- 1 Introduction
- 2 Multiplatform Cable Robots
- 3 Inverse Kinematics and Static Equilibrium of Cable Robots with Single Platform
- 4 Planar Cable Robot with Two Platforms and Unlimited Rotation
- 4.1 Kinematics
- 4.2 Force Distribution Analysis
- 4.3 Workspace Analysis
- 5 Conclusion
- Acknowledgments
- References
- Part III Workspace
- 12 Calculation of the cable-platform collision-free total orientation workspace of cable-driven parallel robots
- 1 Introduction
- 2 Kinematic model of cable-driven parallel robots
- 3 Assumptions for cable-platform collision detection
- 4 Workspace definitions
- 4.1 A homogeneous set of rotations
- 4.2 Rotations about a single axis
- 5 Calculation of the collision cones
- 5.1 Collision detection for a platform pose
- 5.2 Collision detection for a set of platform orientations
- 5.3 Collision detection for R?
- 5.4 Collision detection for Rd,?
- 6 Implementation and evaluation
- 7 Conclusion and outlook
- Acknowledgements
- References
- 13 Workspace Analysis of Cable Parallel Manipulator for Side Net Cleaning of Deep Sea Fishing Ground
- 1 Introduction
- 2 Model construction
- 3 Workspace analysis
- 4 Stiffness analysis
- 5 Conclusion
- 14 Identifying the largest sphere inscribed in the constant orientation wrench-closure workspace of a spatial parallel manipulator driven by seven cables
- 1 Introduction
- 2 Mathematical Formulation
- 2.1 Geometry of the robot
- 2.2 Wrench-closure workspace (WCW) and the derivation of the singularity-free sphere (SFS)
- 2.3 Solution methodology
- 3 Results
- 4 Conclusions
- References
- 15 A Bounding Volume of the Cable Span for Fast Collision Avoidance Verification
- 1 Introduction
- 2 Definition of the cable span
- 3 Collision avoidance checking
- 4 A simple bounding volume approximation of the cable span
- 5 Collision avoidance checking with the new cable span bounding volume approximation
- 6 Conclusion
- 7 Acknowledgement
- References
- 16 Computation of the interference-free wrench feasible workspace of a 3-DoF translational tensegrity robot
- 1 Introduction
- 2 Description of the tensegrity robot
- 3 Description of the workspace constraints
- 3.1 Constraints due to limits on member lengths (C1)
- 3.2 Constraints due to interferences between members (C2)
- 3.3 Constraints related to wrench feasibility (C3)
- 4 Workspace computation using interval analysis
- 4.1 Some concepts of interval analysis
- 4.2 Branch-and-prune workspace computation algorithm
- 4.3 Interval evaluation of the member length constraints (C1)
- 4.4 Interval evaluation of the member interference constraints (C2)
- 4.5 Interval evaluation of the wrench feasibility constraints (C3)
- 5 Examples
- 6 Conclusion
- References
- 17 Antipodal Criteria for Workspace Characterization of Spatial Cable-Driven Robots
- 1 Introduction
- 2 Fully Constrained Poses
- 2.1 Planar Cable Robots
- 2.2 Spatial Cable Robots
- 3 Workspace of Cable Robots
- 3.1 Fully Constrained 5 DOF Robots
- 3.2 Fully Constrained 6 DOF Robots
- 4 Conclusion
- References
- Part IV Control
- 18 Robust Adaptive Control of Over-Constrained Actuated Cable-Driven Parallel Robots
- 1 Introduction
- 2 Robot kinematics and dynamics
- 3 Control design
- 3.1 Outer-loop controller design
- 3.2 Inner-loop controller design
- 4 Stability analysis and performance evaluation
- 5 Simulation results
- 6 Conclusion
- References
- 19 Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots
- 1 Introduction
- 2 Dynamic Modeling of CDPRs
- 3 Proposed Control Schemes
- 3.1 Background on the State of the Art Controllers
- 3.2 Proposed Model Predictive Controller (MPC)
- 4 Simulation Results
- 5 Conclusions and Future Work
- ACKNOWLEDGMENT
- References
- 20 Linearised Feedforward Controlof a Four-Chain Crane Manipulator
- 1 Introduction
- 2 Nonlinear Dynamics of the Crane Manipulator
- 2.1 Coordinates
- 2.2 Nonlinear Equations of Motion
- 2.3 Direct and Inverse Dynamics and Statics
- 3 Linearised Dynamics of the Crane Manipulator
- 4 Feedforward trajectory control
- 5 Numerical Example
- 6 Conclusion and Outlook
- Acknowledgement
- References
- 21 An experimental study on control accuracy of FAST cable robot following zigzag astronomical trajectory
- 1. Introduction
- 2. Coupled series control system
- 3. Astronomical trajectory
- 4. Control tests and analysis
- 5. Summary
- Acknowledgments
- Reference
- Part V Motion Planning
- 22 Path Planning of a Mobile Cable-Driven Parallel Robotin a Constrained Environment
- 1 Introduction
- 2 Manipulator Description and Parameterization
- 3 Wrench Feasibility
- 3.1 Static Equilibrium of the MCDPR
- 3.2 Available Wrench Set
- 4 Task Formulation
- 5 Path planning Algorithm
- 5.1 Generation of feasible path for mobile bases
- 5.2 Generation of the moving-platform optimal path
- 6 Results and Discussion
- 7 Conclusion and Future Work
- References
- 23 Development of Emergency Strategies for Cable-Driven Parallel Robots after a Cable Break
- 1 Introduction
- 2 Modeling and cable-robot basics
- 3 Development of emergency-strategies
- 3.1 Minimization of kinetic energy
- 3.2 Potential fields
- 4 Simulation and results
- 4.1 Examination of the Workspace
- 4.2 Application of emergency methods
- 5 Conclusion and Outlook
- Acknowledgment
- References
- 24 A Conditional Stop Capable Trajectory Planner for Cable-Driven Parallel Robots
- 1 Introduction and state of the art
- 2 Development of PTP trajectory planners
- 2.1 Trajectory planning based on velocity and acceleration limit
- 2.2 Time parameters of the segments
- 2.3 Calculation of time parameters
- 2.4 Review of set parameters
- 3 Conditional stop trajectory
- 3.1 Stop trajectory at workspace boundaries
- 4 Experimental results
- 5 Conclusion
- 6 Acknowledgements
- References
- Part VI Advanced Cable Modeling
- 25 Modeling of Elastic-Flexible Cables with Time-Varying Length for Cable-Driven Parallel Robots
- 1 Introduction
- 2 Dynamics Modeling
- 2.1 Cable Model
- 2.2 Platform Model
- 2.3 Combined Dynamics Model
- 3 Numerical Results
- 3.1 Numerical Intergration Scheme
- 3.2 Approximation of Natural
- 3.3 Numerical Simulation
- 4 Conclusions
- Acknowledgments
- References
- 26 Static and dynamic analysis of a 6 DoF totally constrained cable robot with 8 preloaded cables
- 1 Introduction
- 2 Robot modeling
- 2.1 Inverse Kinematics
- 2.2 Stiffness matrix formulation with preload cables
- 2.3 Mass matrix formulation and vibration modes
- 2.4 Non-linear dynamic modelling
- 3 Simulation results
- 3.1 Static and modal analysis
- 3.2 Dynamic simulation for a given position
- 3.3 Dynamic simulation for a circular trajectory
- 4 Conclusion
- Acknowledgements
- References
- 27 Slackening Effects in 2D Exact Positioning in Cable-Driven Parallel Manipulators
- 1 Introduction
- 2 Problem Formulation
- 2.1 Continuum Model of Elastic Cables
- 2.2 Equilibrium and Kinematically Compatible Configurations
- 3 Direct vs Inverse Approach
- 3.1 Mechanical Parameters of the Selected CDPMs
- 4 Conclusions
- Acknowledgements
- References
- Part VII Calibration and Identification
- 28 Automatic Self-Calibration of Suspended Under-Actuated Cable-Driven Parallel Robot using Incremental Measurements
- 1 Introduction
- 2 Geometrico-StaticModelling
- 2.1 Kinematics
- 2.2 Statics
- 2.3 Forward Geometrico-Static Problem
- 3 Initial-Pose Estimation Problem
- 4 Data Acquisition Algorithm
- 5 Simulations and Experimental Results
- 5.1 Simulation results
- 5.2 Experimental results
- 6 Conclusions
- References
- 29 Eye-on-Hand Calibration Method for Cable-Driven Parallel Robots
- 1 Introduction
- 2 Calibration
- 2.1 Eye-on-Hand Calibration
- 2.2 Generation of a List of Reachable Calibration Poses
- 3 Control
- 4 Experiment
- 4.1 Trials and results
- 4.2 Discussion
- 5 Conclusion
- Acknowledgments
- References
- 30 On the automatic calibration of redundantly actuated cable-driven parallel robots
- 1 Introduction
- 2 Kinematic Modeling
- 2.1 General structure of CDPRs
- 2.2 Inverse geometrics
- 3 Calibration Method
- 3.1 Differential kinematics
- 3.2 The calibration model
- 4 Numerical Example
- 5 Conclusion
- 6 Acknowledge
- References
- 31 Towards a Precise Cable-Driven Parallel Robot - A Model-Driven Parameter Identification Enhanced by Data-Driven Position Correction
- 1 Introduction
- 2 Modeling
- 2.1 Robot Modeling
- 2.2 Radial Basis Functions
- 3 Model-driven Calibration
- 4 Data-Driven Correction
- 5 Results
- 5.1 2D Simulative Results
- 5.2 2D Experimental Results
- 5.3 3D Simulative Results
- 6 Conclusion and Future Work
- References
- Part VIII Applications
- 32 Design, Implementation and Long-Term Running Experiences of the Cable-Driven Parallel Robot CaRo Printer
- 1 Introduction
- 2 Conception of Printing Cable Robot
- 2.1 Workspoace and Interference
- 3 Design and Implementation
- 3.1 Controller Structure
- 3.2 Hardware Design
- 4 Experimental Results
- 5 Conclusions
- Acknowledgment
- References
- 33 A Dual Joystick-Trackball Interface for Accurate and Time-Efficient Teleoperation of Cable-Driven Parallel Robots within Large Workspaces
- 1 Introduction
- 2 Background of CDPRs
- 3 Master Devices of the Dual Interface
- 3.1 P2V Configured Joystick Controller
- 3.2 Novel P2P Configured Trackball Controller
- 4 System Integration of a Dual Interface and CDPRs
- 4.1 Inputs Blending for the Dual Master Interface
- 4.2 Workspaces and Control of the CDPRs within Teleoperation
- 5 Results
- 5.1 Experimental Setup
- 5.2 Simulation and Results
- 6 Conclusion and Future Work
- References
- 34 Active Vibration Damping of a Cable-Driven Parallel Manipulator Using a Multirotor System
- 1 Introduction
- 2 System Requirements
- 3 System Modelling and Design
- 3.1 Thrust force estimation
- 3.2 Mechanical Design
- 3.3 Electrical Design
- 3.4 Controller Design
- 4 Indoor Study of the Multirotor System
- 4.1 Indoor Testbed
- 4.2 Controller Evaluation
- 4.3 Vibration Damping Performance Evaluation
- 5 Conclusion
- References
- 35 Reproduction of Long-Period Ground Motion by Cable Driven Earthquake Simulator Based on Computed Torque Method
- 1 Introduction
- 2 Composition of the earthquake simulator
- 3 Motion control based on the Computed Torque Method
- 3.1 Inverse Dynamics
- 3.2 The Computed Torque Method
- 3.3 Experimental identification of model parameters
- 4 Motion control experiment
- 4.1 Evaluation of the two-different control schemes with sinusoidal input
- 4.2 Capability of the system in reproducing actually observed seismic wave
- 5 Conclusion
- References
- Author Index
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