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Springer Tracts in Advanced Robotics

Cable-Driven Parallel Robots

Theory and Application

Authors: Pott, Andreas

  • 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
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eBook $139.00
price for USA in USD (gross)
  • ISBN 978-3-319-76138-1
  • Digitally watermarked, DRM-free
  • Included format: PDF, EPUB
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $179.99
price for USA in USD
  • ISBN 978-3-319-76137-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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.

Table of contents (10 chapters)

Buy this book

eBook $139.00
price for USA in USD (gross)
  • ISBN 978-3-319-76138-1
  • Digitally watermarked, DRM-free
  • Included format: PDF, EPUB
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $179.99
price for USA in USD
  • ISBN 978-3-319-76137-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Cable-Driven Parallel Robots
Book Subtitle
Theory and Application
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
120
Copyright
2018
Publisher
Springer International Publishing
Copyright Holder
Springer International Publishing AG, part of Springer Nature
eBook ISBN
978-3-319-76138-1
DOI
10.1007/978-3-319-76138-1
Hardcover ISBN
978-3-319-76137-4
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XXIV, 465
Number of Illustrations and Tables
60 b/w illustrations, 130 illustrations in colour
Topics