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Cable-Driven Parallel Robots - Theory and Application (Hardcover, 1st ed. 2018)
Loot Price: R4,297
Discovery Miles 42 970
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Cable-Driven Parallel Robots - Theory and Application (Hardcover, 1st ed. 2018)
Series: Springer Tracts in Advanced Robotics, 120
Expected to ship within 12 - 17 working days
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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.
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