Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Bücher
Zeitschriften
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
SLX-Digitalkonferenz: Zukunftswerkstatt 2024

Mehr Umsatz mit Top-Kontakten

Am 7. Mai erfahren Sie, wie Vertriebsteams Leadgenerierung, Leadnurturing und Leadstrategien effizient steuern können.
Erweiterte Suche
Anmelden
nach oben

2017 | Buch

Introduction Kapitel lesen Erstes Kapitel lesen

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

verfasst von: Bin Zi, Sen Qian

Verlag: Springer Singapore

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik"

Einloggen, um Zugang zu erhalten
insite
SUCHEN

Über dieses Buch

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.

Inhaltsverzeichnis

Frontmatter
Chapter 1. Introduction
Abstract
Cable-suspended parallel robots (CPR) are parallel manipulators in which the end-effectors are driven by cables instead of rigid links. The CPRs can be required not only for operations with greater flexibility, but also for large reachable workspace and high payload. The development of the cable-driven parallel manipulator is introduced and the latest advance in theory and applications of cable-driven parallel manipulator is presented.
Bin Zi, Sen Qian
Chapter 2. Kinematics and Dynamics of the Feed Cable-Suspended Structure for Super Antenna
Abstract
Design and experiment of the feed cable-suspended structure for the next generation large spherical radio telescope are presented. The optimization design of the telescope structure is performed and the connection between stable cables and twisting stiffness is verified. The inverse kinematic and dynamic model of CPR with non-negligible cable mass is carry out. Furthermore, the inverse dynamic formulation of the mechanical system including servomechanism dynamics is established by using Lagrange’s Equations.
Bin Zi, Sen Qian
Chapter 3. Trajectory Tracking Control of the Feed Cable-Suspended Structure for Super Antenna
Abstract
The fuzzy plus proportional-integral control (FPPIC) method, which can enhance the control performance for steady state errors, is utilized to control the wind-induced vibration of the trajectory tracking of the feed. Moreover, the simulation and experiment are respectively deployed on the 5-m and 50-m scaled model to test the different dynamic modeling present in former chapter and justify the efficiency of purposed control strategy.
Bin Zi, Sen Qian
Chapter 4. Integrated Mechanism Design and Control of the Hybrid-Driven Based Cable-Suspended Parallel Robots
Abstract
The dynamic model of the HDCPR is developed on the basis of Lagrange method. Then, an adaptive iterative learning control strategy is designed for the high-precision trajectory tracking. Furthermore, the stability of the controller is proved by means of Lyapunov function. In order to improve the dynamic performance of the HDCPR system, a methodology of simultaneous optimal design of mechanism and control for the HDCPR is presented. The dynamic modeling of the HDCPR is performed based on Newton-Euler method, and the workspace of the manipulator is also analyzed.
Bin Zi, Sen Qian
Chapter 5. Error Analysis of the Hybrid-Driven Based Cable-Suspended Parallel Robots
Abstract
The design model of the HDCPR is described. Then, mechanics analysis and error modelling of the HDCPR is described based on the differentiation of kinematic equations. Sensitivity analysis of the HDCPR is provided. Illustrative simulation studies highlight its performances. Finally, conclusions and future studies are summarized.
Bin Zi, Sen Qian
Chapter 6. Performance Indices of the Hybrid-Driven Based Cable-Suspended Parallel Robots
Abstract
To illustrate the advantage of the performance indices, firstly, hybrid-driven based cable-suspended parallel manipulators (HDCPR) is presented, then Kinematics and dynamics of the cable parallel manipulators with and without HDPM are studied based on Lagrange method separately. Finally, some performance indices, such as conditioning index, stiffness index, and payload index are investigated and compared based on above analysis.
Bin Zi, Sen Qian
Chapter 7. Design and Dynamics of the Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes
Abstract
The design, dynamic modelling, and workspace of the CPRMC are presented. The design model of the CPRMC is presented. Then, kinematics and dynamics of the CPRMC are performed. Workspace analysis of the CPRMC is provided and illustrative simulation studies highlight its performances. Finally, some concluding remarks are summarized.
Bin Zi, Sen Qian
Chapter 8. Obstacle Avoidance Planning of the Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes
Abstract
Design model and cooperative localization scheme of the CPRMC are presented, and the improved localization algorithm based on multilateration method is designed. The global path planning of the CPRMC is performed based on the artificial potential field method with the grid method, and the sensor technology is applied to the cooperative obstacle avoidance, and combined with Matlab and LabVIEW, a co-simulation platform is built for cooperative obstacle avoidance analysis. A four-point collaborative leveling method is adopted for automatic leveling control of the platform for the CPRMC.
Bin Zi, Sen Qian
Chapter 9. Development, Coordinated Control and Experiments of the Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes
Abstract
The complete kinematics and dynamics of the cooperative cable parallel manipulators for multiple mobile cranes is studied, which is the foundation for the further research of this new promising and significant engineering equipment. The kinematics of the cooperative three mobile cranes with point-mass is established with elimination method, including both forward and inverse kinematics. Based on Lagrange equation and the kinematics, the complete dynamic model of the CPRMC is derived. A robust iterative learning controller (ILC) of the CPRMC is designed on the basis of the linearization of the dynamics. Numerical simulation is conducted in order to investigate the dynamics and the designed robust ILC of the CPRMC.
Bin Zi, Sen Qian
Metadaten
Titel
Design, Analysis and Control of Cable-suspended Parallel Robots and Its Applications
verfasst von
Bin Zi
Sen Qian
Copyright-Jahr
2017
Verlag
Springer Singapore
Electronic ISBN
978-981-10-1753-7
Print ISBN
978-981-10-1752-0
DOI
https://doi.org/10.1007/978-981-10-1753-7

Neuer Inhalt

    Bildnachweise