Authors:
- First book addressing the full field of cable-driven parallel robots and the relations amongst the involved disciplines
- Sets up a thorough theory of cable robots beginning from first principles to latest results in research
- Allows for building and operating cable robots for real world applications
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 120)
Buy it now
Buying options
Tax calculation will be finalised at checkout
Other ways to access
This is a preview of subscription content, log in via an institution to check for access.
Table of contents (10 chapters)
-
Front Matter
-
Back Matter
About this book
Cable-driven parallel robots are a new kind of lightweight manipulators with excellent scalability in terms of size, payload, and dynamics capacities. For the first time, a comprehensive compendium is presented of the field of cable-driven parallel robots. A thorough theory of cable robots is setup leading the reader from first principles to the latest results in research.
The main topics covered in the book are classification, terminology, and fields of application for cable-driven parallel robots. The geometric foundation of the standard cable model is introduced followed by statics, force distribution, and stiffness. Inverse and forward kinematics are addressed by elaborating efficient algorithms. Furthermore, the workspace is introduced and different algorithms are detailed. The book contains the dynamic equations as well as simulation models with applicable parameters. Advanced cable models are described taking into account pulleys, elastic cables, and sagging cables.
For practitioner, a descriptive design method is stated including methodology, parameter synthesis, construction design, component selection, and calibration. Rich examples are presented by means of simulation results from sample robots as well as experimental validation on reference demonstrators. The book contains a representative overview of reference demonstrator system. Tables with physical parameters for geometry, cable properties, and robot parameterizations support case studies and are valuable references for building custom cable robots.
For scientist, the book provides the starting point to address new scientific challenges as open problems are named and a commented review of the literature on cable robot with more than 500 references are given.
Authors and Affiliations
-
Stuttgart, Germany
Andreas Pott
Bibliographic Information
Book Title: Cable-Driven Parallel Robots
Book Subtitle: Theory and Application
Authors: Andreas Pott
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-319-76138-1
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing AG, part of Springer Nature 2018
Hardcover ISBN: 978-3-319-76137-4Published: 09 April 2018
Softcover ISBN: 978-3-030-09412-6Published: 24 January 2019
eBook ISBN: 978-3-319-76138-1Published: 27 March 2018
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XXIV, 465
Number of Illustrations: 60 b/w illustrations, 130 illustrations in colour