000 03915nam a22005535i 4500
001 978-3-319-76138-1
003 DE-He213
005 20220801220349.0
007 cr nn 008mamaa
008 180327s2018 sz | s |||| 0|eng d
020 _a9783319761381
_9978-3-319-76138-1
024 7 _a10.1007/978-3-319-76138-1
_2doi
050 4 _aTJ212-225
050 4 _aTJ210.2-211.495
072 7 _aTJFM
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTJFM
_2thema
082 0 4 _a629.8
_223
100 1 _aPott, Andreas.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_949892
245 1 0 _aCable-Driven Parallel Robots
_h[electronic resource] :
_bTheory and Application /
_cby Andreas Pott.
250 _a1st ed. 2018.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2018.
300 _aXXIV, 465 p. 190 illus., 130 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-742X ;
_v120
505 0 _aIntroduction -- Classification and Architecture -- Geometric and Static Foundations -- Kinematic Codes -- Workspace -- Dynamics -- Kinematics with Nonstandard Cable Models -- Design -- Practice.
520 _aCable-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.
650 0 _aControl engineering.
_931970
650 0 _aRobotics.
_92393
650 0 _aAutomation.
_92392
650 0 _aArtificial intelligence.
_93407
650 1 4 _aControl, Robotics, Automation.
_931971
650 2 4 _aArtificial Intelligence.
_93407
710 2 _aSpringerLink (Online service)
_949893
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9783319761374
776 0 8 _iPrinted edition:
_z9783319761398
776 0 8 _iPrinted edition:
_z9783030094126
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-742X ;
_v120
_949894
856 4 0 _uhttps://doi.org/10.1007/978-3-319-76138-1
912 _aZDB-2-ENG
912 _aZDB-2-SXE
942 _cEBK
999 _c78490
_d78490