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Parallel robots

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Nonlinear control theory. --- Parallel robots. --- Robots --- Control systems.

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This publication presents the outcome of the "First International Conference on Cable-Driven Parallel Robots" in 2012. This is the first conference to bring together the cable robot community and dedicate a forum for the international experts of this field. It contains the Know-how, ideas and experiences of active researchers developing cable-driven robots. The book presents the state of the art, including summarizing contributions and latest research results and, where relevant, the future outlook. The book covers the essential topics for cable-driven robots: classification and definition, kinematics, workspace analysis, cable modeling, control and calibration, design methodology, hardware/prototype development, experimental evaluation, application reports and new application concepts.

Engineering design. --- Parallel robots. --- Robots. --- Technology and engineering -- Robots. --- Parallel robots --- Mechanical Engineering --- Engineering & Applied Sciences --- Mechanical Engineering - General --- Engineering. --- Robotics. --- Automation. --- Robotics and Automation. --- Engineering Design. --- Robots --- Design, Engineering --- Engineering --- Industrial design --- Strains and stresses --- Design --- Automation --- Machine theory --- Automatic factories --- Automatic production --- Computer control --- Engineering cybernetics --- Factories --- Industrial engineering --- Mechanization --- Assembly-line methods --- Automatic control --- Automatic machinery --- CAD/CAM systems --- Robotics

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This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.

Engineering. --- Vibration, Dynamical Systems, Control. --- Control, Robotics, Mechatronics. --- Mechanical Engineering. --- Vibration. --- Mechanical engineering. --- Ingénierie --- Vibration --- Génie mécanique --- Civil & Environmental Engineering --- Engineering & Applied Sciences --- Civil Engineering --- Parallel robots. --- Parallel robots --- Programming. --- Dynamical systems. --- Dynamics. --- Control engineering. --- Robotics. --- Mechatronics. --- Robots --- Engineering, Mechanical --- Engineering --- Machinery --- Steam engineering --- Cycles --- Mechanics --- Sound --- Mechanical engineering --- Microelectronics --- Microelectromechanical systems --- Automation --- Machine theory --- Control engineering --- Control equipment --- Control theory --- Engineering instruments --- Programmable controllers --- Dynamical systems --- Kinetics --- Mathematics --- Mechanics, Analytic --- Force and energy --- Physics --- Statics

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This volume gathers the latest advances, innovations, and applications in the field of cable robots, as presented by leading international researchers and engineers at the 4th International Conference on Cable-Driven Parallel Robots (CableCon 2019), held in Krakow, Poland on June 30-July 4, 2019, as part of the 5th IFToMM World Congress. It covers the theory and applications of cable-driven parallel robots, including their classification, kinematics and singularity analysis, workspace, statics and dynamics, cable modeling and technologies, control and calibration, design methodologies, hardware development, experimental evaluation and prototypes, as well as application reports and new application concepts. The contributions, which were selected through a rigorous international peer-review process, share exciting ideas that will spur novel research directions and foster new multidisciplinary collaborations.

Parallel robots. --- Engineering. --- Robotics and Automation. --- Mechatronics. --- Machinery and Machine Elements. --- Construction --- Industrial arts --- Technology --- Robotics. --- Automation. --- Machinery. --- Machinery --- Machines --- Manufactures --- Power (Mechanics) --- Mechanical engineering --- Motors --- Power transmission --- Microelectronics --- Microelectromechanical systems --- Automatic factories --- Automatic production --- Computer control --- Engineering cybernetics --- Factories --- Industrial engineering --- Mechanization --- Assembly-line methods --- Automatic control --- Automatic machinery --- CAD/CAM systems --- Robotics --- Automation --- Machine theory --- Curious devices