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Cable suspended parallel robots: Des...

Pusey, Jason L.

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Cable suspended parallel robots: Design, workspace, and control.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Cable suspended parallel robots: Design, workspace, and control./
作者:	Pusey, Jason L.
面頁冊數:	350 p.
附註:	Adviser: Sunil K. Agrawal.
Contained By:	Masters Abstracts International44-06.
標題:	Engineering, Mechanical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1435861
ISBN:	9780542719189

Cable suspended parallel robots: Design, workspace, and control.
Pusey, Jason L.

Cable suspended parallel robots: Design, workspace, and control. - 350 p.

Adviser: Sunil K. Agrawal.

Thesis (M.S.M.E.)--University of Delaware, 2006.

A cable suspended parallel robot is based on the idea of a Gough-Stewart platform parallel link manipulator. The unique feature is that cables are used as the links and winches are the actuators. Traditional parallel manipulators generally use heavy prismatic actuators, which tend to be large and cumbersome. Using cables dramatically decreases the weight of the parallel robot and increases the distance in which it is able to reach. These characteristics make cable suspended parallel robots useful for tasks such as cargo handling, inspection of airplanes, shipbuilding, and camera positioning in large sport stadiums.

ISBN: 9780542719189Subjects--Topical Terms:

783786
Engineering, Mechanical.

Cable suspended parallel robots: Design, workspace, and control.
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245 1 0 $a Cable suspended parallel robots: Design, workspace, and control.
300 $a 350 p.
500 $a Adviser: Sunil K. Agrawal.
500 $a Source: Masters Abstracts International, Volume: 44-06, page: 2978.
502 $a Thesis (M.S.M.E.)--University of Delaware, 2006.
520 $a A cable suspended parallel robot is based on the idea of a Gough-Stewart platform parallel link manipulator. The unique feature is that cables are used as the links and winches are the actuators. Traditional parallel manipulators generally use heavy prismatic actuators, which tend to be large and cumbersome. Using cables dramatically decreases the weight of the parallel robot and increases the distance in which it is able to reach. These characteristics make cable suspended parallel robots useful for tasks such as cargo handling, inspection of airplanes, shipbuilding, and camera positioning in large sport stadiums.
520 $a Cables are only capable of supplying pulling tension forces but no pushing compressive forces. The attractive features related to the use of cables, as opposed to traditional actuators, are that cables have a large strength to weight ratio, lightweight, and can extend long distances. Since cables can only pull and not push, the existing theory on parallel robots is slightly modified to incorporate the additional characteristic pertaining to the cables. The current work includes some existing theory on cable-actuated robots and parallel manipulators to form additional ideas about the workspace, design, and control of a 6-degree-of-freedom cable suspended parallel robot.
590 $a School code: 0060.
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792 $a 2006
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1435861