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

Description

This book presents proceedings of the third international conference in this field, continuing the success of the previous events. The peer-reviewed and the selected papers are arranged to make the proposed book the most recent and complete overview on the State-of-the-Art in Cable-Driven Parallel Robots! The conference took place 2017 in Quebec, QC, Canada, . Abstract: This book presents proceedings of the third international conference in this field, continuing the success of the previous events. The peer-reviewed and the selected papers are arranged to make the proposed book the most recent and complete overview on the State-of-the-Art in Cable-Driven Parallel Robots! The conference took place 2017 in Quebec, QC, Canada 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