Design Analysis and Control of Cable-suspended Parallel Robots and Its Applications

Titolo Design Analysis and Control of Cable-suspended Parallel Robots and Its Applications
Autore Zi
Qian
Editore Springer
ISBN 978-981-10-1753-7
Soggetto Ingegneria
Disciplina Ingegneria
Anno di pubblicazione 2017
Abstract Engineering
Collezione Springer eBooks collections
Homepage editore http://link.springer.com.ezp.biblio.unitn.it/
Abstract editore This book provides an essential overview of the authors’ work in the field of cable-suspended parallel robots, focusing on innovative design, mechanics, control, development and applications. It presents and analyzes several typical mechanical architectures of cable-suspended parallel robots in practical applications, including the feed cable-suspended structure for super antennae, hybrid-driven-based cable-suspended parallel robots, and cooperative cable parallel manipulators for multiple mobile cranes. It also addresses the fundamental mechanics of cable-suspended parallel robots on the basis of their typical applications, including the kinematics, dynamics and trajectory tracking control of the feed cable-suspended structure for super antennae. In addition it proposes a novel hybrid-driven-based cable-suspended parallel robot that uses integrated mechanism design methods to improve the performance of traditional cable-suspended parallel robots. A comparative study on error and performance indices of hybrid-driven based and traditional cable-suspended parallel robots rounds out the coverage. This book addresses the needs of researchers, engineers and post-graduates in the field of cable-suspended parallel robots and related areas.
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