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Über dieses Buch

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.

Inhaltsverzeichnis

Frontmatter

Chapter 1. Introduction

Abstract
Generating a defined motion is one of the fundamental tasks for a machine. By definition, a robot is a universal machine dedicated to creating motion that can be freely programmed. A large variety of mechanisms are known that are capable of creating different kinds of motion which can be characterized by the degree-of-freedom of the motion, its dynamic characteristics such as velocity and acceleration, and its accuracy. Whenever objects are moved or manipulated, the payload or strength of the machine becomes an additional topic of interest. Once a technology to achieve the desired effect is known, the technological development aims at optimizing the task in some sense, for example by increasing the payload, velocity, or accuracy. At the same time, economical factors drive the development into decreasing costs for the machine while maintaining the performance level. Therefore, there is a persistent trend in robotics to develop technical solutions that are superior in some of these aspects.
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Chapter 2. Classification and Architecture

Abstract
This chapter deals with terminology and criteria for the classification of cable robots. Different architectures which have been proposed in the literature and presented prototypes are described. Fields of application are presented at the end of this chapter.
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Chapter 3. Geometric and Static Foundations

Abstract
This chapter deals with the geometric and static foundations for the standard model of the cable robot. Firstly, the geometric equations are derived and the static equilibrium is considered. Afterwards, methods for computing force distributions are extensively studied. Finally, the stiffness properties are introduced and analyzed.
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Chapter 4. Kinematic Codes

Abstract
This chapter deals with the kinematic transformation and its derivatives for the standard model. Then, singularities are introduced for cable robots. An overview of kinematic codes is given and algorithms for real-time capable codes are proposed.
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Chapter 5. Workspace

Abstract
This chapter deals with different types of workspace, the criteria used for workspace determination, as well as with algorithms to actually calculate the workspace. In the last part, the influence of the different criteria is compared.
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Chapter 6. Dynamics

Abstract
This chapter deals with the dynamic modeling of cable robots. Firstly, the system structure is presented. Then, models for the mechanical and electrical subsystems are introduced. Finally, results from simulation and experimental verification are presented.
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Chapter 7. Kinematics with Nonstandard Cable Models

Abstract
In this chapter, we deal with the extension of the standard kinematic model by taking realistic assumptions for the cables into account. The modeling of nontrivial winch kinematics with guiding pulleys is addressed in Sect. 7.2. The consideration of cable mass leads to sagging (Sect. 7.3) and the finite stiffness of the cables causes elastic effects in the cables (Sect. 7.4).
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Chapter 8. Design

Abstract
In this chapter, the design procedure of cable robots is addressed through a methodology presented in Sect. 8.2. Firstly, the application requirements that need to be satisfied by a cable robot are considered in Sect. 8.3. Secondly, different reference models for cable robots are reviewed in Sect. 8.4 that serve as parametric templates. These models are facilitated by different algorithms for geometry synthesis. Approaches based on optimization and interval analysis are presented in Sect. 8.5. The mechanical design of cable robots is discussed in Sect. 8.6.
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Chapter 9. Practice

Abstract
In this section, operating experience and experimental results are presented related to building and running cable robots. Firstly, the basic procedure for calibration of cable robots is outlined. Then, the IPAnema robot family is introduced where the different demonstrator systems exemplify possible design decisions. Finally, some other cable robots are presented which are designed and built using the methodology described in this book.
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Chapter 10. Summary

Abstract
Since the first research in 1985 on cable-driven parallel robots, this field has been notably structured and shaped. Now, a number of fundamental problems are intensively studied and both a theoretical foundation and applicable practice are developed. The scope of this book is to structure the field, to discuss the foundation, and to present a solid theory of cable robots.
Andreas Pott

Backmatter

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