Design, Analysis and Control of Cable-suspended Parallel Robots and Its Applications
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 architectur
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sign, Analysis and Control of CableSuspended Parallel Robots and Its Applications
Design, Analysis and Control of Cable-Suspended Parallel Robots and Its Applications
Bin Zi Sen Qian •
Design, Analysis and Control of Cable-Suspended Parallel Robots and Its Applications
123
Sen Qian Hefei University of Technology Hefei China
Bin Zi Hefei University of Technology Hefei China
ISBN 978-981-10-1752-0 DOI 10.1007/978-981-10-1753-7
ISBN 978-981-10-1753-7
(eBook)
Library of Congress Control Number: 2016963640 © Springer Science+Business Media Singapore 2017 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. Printed on acid-free paper This Springer imprint is published by Springer Nature The registered company is Springer Nature Singapore Pte Ltd. The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721, Singapore
Foreword
Robotics is an application technology integrated with multiple disciplines, including mechanics, electronics, information, control, etc. It is the intercrossing and expansion of mechanism, artificial intelligence and computer technology that have nurtured the development of robotics. Cable-suspended parallel robots have been developed as a novel type of parallel manipulator in the last decades, which are driven by flexible cables instead of rigid links. Due to the high stiffness, precision and load capacity inherited from parallel robots and the low inertia and large workspace inherited from cable-driven mechanisms, cable-suspended parallel robots have become more and more widely utilized in many engineering fields, such as the feed cable-suspended structure for large telescope, cargo hoisting, rehabilitation, bionics, wind tunnel facilities, etc. This book is a summary and extension of the work accomplished by the authors in the field of cable-suspended parallel robots. The latest representative studies are ref
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