Download Design, Analysis and Control of Cable-suspended Parallel by Bin Zi, Sen Qian PDF

By Bin Zi, Sen Qian

This publication presents a vital evaluation of the authors’ paintings within the box of cable-suspended parallel robots, concentrating on leading edge layout, mechanics, keep an eye on, improvement and purposes. It provides and analyzes numerous commonplace mechanical architectures of cable-suspended parallel robots in functional purposes, together with the feed cable-suspended constitution for tremendous antennae, hybrid-driven-based cable-suspended parallel robots, and cooperative cable parallel manipulators for a number of cellular cranes. It additionally addresses the elemental mechanics of cable-suspended parallel robots at the foundation in their general functions, together with the kinematics, dynamics and trajectory monitoring keep watch over of the feed cable-suspended constitution for tremendous antennae. moreover it proposes a unique hybrid-driven-based cable-suspended parallel robotic that makes use of built-in mechanism layout tips on how to increase the functionality of conventional cable-suspended parallel robots. A comparative examine on errors and function indices of hybrid-driven established and conventional cable-suspended parallel robots rounds out the coverage.
This booklet addresses the wishes of researchers, engineers and post-graduates within the box of cable-suspended parallel robots and similar areas.

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

Sample text

Its viability for practical applications has been demonstrated by simulation and experiments. 2 Fuzzy Plus Proportional-Integral Controller Design 45 Gate Bipolar Transistor (IGBT) Modem Pulse-Width Modulated (PWM) sine wave control. For the high requirement of real-time and synchronization of CPR, we adopt a centralized control scheme, which consists of a main computer (M-C), a measure computer (Measure-C) and the multi-movement-node based on servodrive. In real-time motion, the real position and orientation of the center of the feed cabin can be detected by three laser ranging equipments under the control of Measure-C, together with the desired trajectory are fed into M-C, and M-C calculates the lengths of six cables in each time slice based on the inverse dynamic model, and then converts the length change value of cable into the number of pulse.

Agrawal SK, Dubey VN, Gangloff JJ et al (2009) Design and optimization of a cable driven upper arm exoskeleton. J Med Devices 3(3):031004 65. Mao Y, Jin X, Agrawal SK (2014) Real-time estimation of glenohumeral joint rotation center with cable-driven arm exoskeleton (CAREX)—a cable-based arm exoskeleton. J Mech Robot 6(1):014502 66. Mao Y, Jin X, Dutta GG et al (2015) Human movement training with a cable driven arm exoskeleton (carex). IEEE Trans Neural Syst Rehabil Eng 23(1):84–92 67. Zanotto D, Rosati G, Minto S et al (2014) Sophia-3: A semiadaptive cable-driven rehabilitation device with a tilting working plane.

So it is necessary to obtain the optimal design scheme to achieve the orientation of 60° by virtue of optimization strategy. x11 z1 x9 x3 Y1 x10 B3 O1 z B2 y1 B4 B5 x O Fig. 4 Sketch map of design variables Fig. 5 Sketch map of the structure of cable x5 x7 x1 x2 x8 x4 x6 x1 2 x1 y B6 B1 X1 26 2 Kinematics and Dynamics of the Feed Cable-Suspended … A. Optimization model of the feed cable-suspended structure In order that the optimized structure can meet the requirement for the orientation of 60°, little cable tension difference, and all kinds of the constraint conditions, the following work needed to be performed.

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