Cable-Driven Parallel Robots: Proceedings of the Second by Andreas Pott, Tobias Bruckmann

By Andreas Pott, Tobias Bruckmann

This quantity offers the end result of the second one discussion board to cable-driven parallel robots, bringing the cable robotic neighborhood jointly. It indicates the recent principles of the energetic researchers constructing cable-driven robots. The booklet offers the state-of-the-art, together with either summarizing contributions in addition to most modern examine and destiny ideas. The ebook conceal all themes that are crucial for cable-driven robots:
Kinematics, Workspace and Singularity Analysis
Statics and Dynamics Cable Modeling
Control and Calibration
Design Methodology
Hardware Development
Experimental Evaluation
Prototypes, program studies and new program concepts.

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Extra info for Cable-Driven Parallel Robots: Proceedings of the Second International Conference on Cable-Driven Parallel Robots

Example text

Pott A (2012) Influence of pulley kinematics on cable-driven parallel robots. In: Advances in robot kinematics, Austria, pp 197–204 10. Pott A, Bruckmann T, Mikelsons L (2009) Closed-form force distribution for parallel wire robots. In: Computational kinematics. Springer-Verlag, Duisburg, Germany, pp. 25–34 11. Thai H, Kim S (2011) Nonlinear static and dynamic analysis of cable structures. Finite Elem Anal Des 47(3):237–246 12. Verhoeven R (2004) Analysis of the workspace of tendon-based Stewart platforms.

Q. Nguyen and M. 1 Method 1 Suppose that the CDPR mobile platform is triangulated into N triangles. The first approach to detect the interferences between cables and CDPR mobile platform is quite straightforward using the method to detect collision between line segments and triangles [11]. At pose Xp , for each cable i, we check for the interferences between cable i and all the triangles that do not belong to the planes which contain the cable end point Bi . If there is a collision then we stop the checking process and give out a warning.

If sij (Xq ) == sij (Xp ), then no collision should have occurred. If sij (Xq ) = sij (Xp ) and Aj Bj is not intersecting Ai Bi , then no collision should have occurred. If sij (Xq ) = sij (Xp ) and Aj Bj is intersecting Ai Bi , then we consider that a collision between the two cables i and j occurred. In this algorithm, for a m-cable CDPR, step 1 requires to compute sij in (2) Ncc times: m · (m − 1) (4) Ncc = 2 The algorithm stops if there exists any i, j for which a collision occurs (thus, the times of performing steps 2 and 3 is N2,3 ≤ Ncc ).

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