By Bruckmann, Tobias; Pott, Andreas
Read or Download Cable-Driven Parallel Robots PDF
Best products books
This paintings provides a definitive interpretation of the present prestige of and destiny tendencies in normal products-a dynamic box on the intersection of chemistry and biology enthusiastic about isolation, id, constitution elucidation, and chemical features of clearly taking place compounds similar to pheromones, carbohydrates, nucleic acids, and enzymes.
This can be the 1st e-book to ascertain the particular influence of actual and social engineering initiatives in additional than fifty international locations from a multidisciplinary standpoint. The e-book brings jointly a world crew of approximately 200 authors from over dozen varied nations and greater than a dozen various social, environmental, and engineering sciences.
This can be the single publication out there that has been conceived and intentionally written as a one-semester textual content on easy electrical circuit idea. As such, this e-book employs a unique method of the exposition of the cloth within which phasors and ac steady-state research are brought first and foremost. this enables one to exploit phasors within the dialogue of transients thinking about ac assets, which makes the presentation of transients extra complete and significant.
Extra info for Cable-Driven Parallel Robots
The characteristics of the winches have been presented in the Table 1. 01 and W p = Wv = diag(1). 9 Kg. The motion planning is applied from point-to-point along a prescribe path illustrated in Fig. 2. In Fig. 3 the path velocity function of path parameter for various values of ε is shown. In phase plane, the path velocity at each point along the path increase as ε is reduced. By reduction to zero, the minimum time velocity profile is reached. The required torque for all 6 motors to carry the maximum payload is shown in Fig.
The cables are forced to pass through the two fixed vertices A1 and A2 (see Fig. 1 and Table 1) at the top of the base polygon by means of guide pulleys and are wound into screw threads machined on the drive pulley surfaces. 15 Nm, maximum torque 10 Nm, rated speed 3,000 rpm) with Simodrive 611U servodrives. Torque control with analog interface is the operating mode selected for both the motors. Additionally, TTL 2,048line encoder emulation has been chosen to get a direct measurement of motor shaft position, and hence of the pulley angles βi .
Mechatron. 7(2), 115–123 (2002) 23. : Modeling and control of a 3-DOF pendulum-like manipulator. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3964–3969 (2011). 24. : Dynamic modeling and active control of a cablesuspended parallel robot. Mechatronics 18, 1–12 (2008) 25. : Point-to-point motion planning of a parallel 3-DOF underactuated cable-suspended robot. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2325–2330. St-Paul, Minnesota (2012).