By Andreas Pott, Tobias Bruckmann
This quantity provides the end result of the second one discussion board to cable-driven parallel robots, bringing the cable robotic group jointly. It exhibits the hot rules of the lively researchers constructing cable-driven robots. The e-book provides the state-of-the-art, together with either summarizing contributions in addition to most up-to-date examine and destiny thoughts. The ebook hide all subject matters that are crucial for cable-driven robots:
Kinematics, Workspace and Singularity Analysis
Statics and Dynamics Cable Modeling
Control and Calibration
Prototypes, software experiences and new software concepts.
Read Online or Download Cable-Driven Parallel Robots: Proceedings of the Second International Conference on Cable-Driven Parallel Robots PDF
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Additional resources for Cable-Driven Parallel Robots: Proceedings of the Second International Conference on Cable-Driven Parallel Robots
One still has to manually select the vertices Dik . g. . 4 Verification of Collision Free Condition for a Given Workspace Let us consider an application where one want to verify the cable interferences of a CDPR with respect to a given Cartesian workspace and orientation range. The CDPR workspace is given as follows: xmin ≤ x ≤ xmax ymin ≤ y ≤ ymax zmin ≤ z ≤ zmax θx min ≤ θx ≤ θx max θy min ≤ θy ≤ θy max θz min ≤ θz ≤ θz max where X = (x y z, θx θy θz ) denotes the mobile platform pose. Assume that the Cartesian workspace is discretized into a finite set of Np points and the orientation workspace is discretized into a finite set of Nq points (these points can be chosen as extreme points which lie on the workspace boundaries).
On the other hand, in the second method, the mobile platform has a convex shape. For each vertex Bi , there are a minimum of 3 neighboring vertices. The computation time in this case is significantly reduced compared to the first method. 47 ms Assume that one want to verify the CDPR capability over a given workspace where the Cartesian workspace is discretized into Np = 20 points and the orientation workspace is discretized into the minimum number Nq = 8 points (taking only the extreme values of each angle into account).
03) if some 6-cable configuration is feasible. 0]. The platform has a constant orientation Φ = [0 0 0] and the trajectory is described by the parameter t ∈ [0, 1]. The results reported in Fig. 2 show that the minimum number of configurations necessary to perform the whole trajectory is 2, namely C123478 and C125678 . 5045]) and the other sets of active cables covering the same section have similar ranges (C123678 , C124578 ). 2 cm on the trajectory line, a configuration switch seems practically unmanageable, even in quasi-static conditions.