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 architectures of cable-suspended parallel robots in prac...
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| Main Authors | , |
|---|---|
| Format | Electronic eBook |
| Language | English |
| Published |
Singapore :
Springer,
2017.
|
| Subjects | |
| Online Access | Full text |
| ISBN | 9789811017537 9789811017520 |
| Physical Description | 1 online resource |
Cover
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| 100 | 1 | |a Zi, Bin, |e author. | |
| 245 | 1 | 0 | |a Design, analysis and control of cable-suspended parallel robots and its applications / |c Bin Zi, Sen Qian. |
| 264 | 1 | |a Singapore : |b Springer, |c 2017. | |
| 300 | |a 1 online resource | ||
| 336 | |a text |b txt |2 rdacontent | ||
| 337 | |a počítač |b c |2 rdamedia | ||
| 338 | |a online zdroj |b cr |2 rdacarrier | ||
| 504 | |a Includes bibliographical references. | ||
| 505 | 0 | |a Foreword; Preface; Contents; 1 Introduction; 1.1 The History and Development of Cable-Suspended Parallel Robots; 1.2 The Application of Cable-Suspended Parallel Robots; 1.2.1 Engineering; 1.2.2 Bionics; 1.2.3 Rehabilitation; 1.3 Scope and Organization of This Book; References; 2 Kinematics and Dynamics of the Feed Cable-Suspended Structure for Super Antenna; 2.1 Preamble; 2.2 On Design and Experiment of the Feed Cable-Suspended; 2.2.1 Mechanics Equations of the Feed Cable-Suspended Structure; 2.2.2 Optimization of the Feed Cable-Suspended Structure. | |
| 505 | 8 | |a 2.2.3 Experimental Results and Discussion of Enhancing the Stiffness of the Feed Cable-Suspended Structure2.3 Dynamic Modeling of a Cable-Suspended Parallel Robot with Non-negligible Cable Mass; 2.3.1 System Dynamic Model; 2.3.2 Mechanics Analysis of the Cable; 2.4 Conclusions; References; 3 Trajectory Tracking Control of the Feed Cable-Suspended Structure for Super Antenna; 3.1 Preamble; 3.2 Fuzzy Plus Proportional-Integral Controller Design; 3.3 Simulation Results and Analysis of Dynamic Model and Trajectory Tracking Controller; 3.3.1 Case 1: 5-m Scaled Model of FAST. | |
| 505 | 8 | |a 3.3.2 Case 2: 50-m Scaled Model of FAST3.4 Conclusions; References; 4 Integrated Mechanism Design and Control of the Hybrid-Driven Based Cable-Suspended Parallel Robots; 4.1 Preamble; 4.2 Design, Dynamics and Workspace of a Hybrid-Driven Based Cable Parallel Manipulator; 4.2.1 Mechanism Description; 4.2.2 Dynamic Modeling; 4.2.3 Workspace Analysis; 4.2.4 Results and Discussion; 4.2.4.1 Dynamic Simulation; 4.2.4.2 Workspace Simulation; 4.3 Dynamic Modeling and Iterative Learning Control of a Novel Hybrid-Driven Based Three-Cable Parallel Manipulator; 4.3.1 System Description. | |
| 505 | 8 | |a 4.3.2 Dynamic Modeling4.3.3 Adaptive ILC Design; 4.3.4 Numerical Results and Discussion; 4.4 Integrated Mechanism Design and Control for Completely Restrained Hybrid-Driven Based Cable Parallel Manipulators; 4.4.1 Integrated Optimization Design; 4.4.2 Constraints; 4.4.3 Results and Discussion; 4.4.3.1 Case 1: Ellipse Trajectory; 4.4.3.2 Case 2: Line Segment Trajectory; 4.5 Conclusions; References; 5 Error Analysis of the Hybrid-Driven Based Cable-Suspended Parallel Robots; 5.1 Preamble; 5.2 Mechanism Description; 5.3 Mechanics Analysis and Error Modelling; 5.4 Sensitivity Analysis. | |
| 505 | 8 | |a 5.5 Results and Discussion5.6 Conclusions; References; 6 Performance Indices of the Hybrid-Driven Based Cable-Suspended Parallel Robots; 6.1 Preamble; 6.2 Comparative Study of Cable Parallel Manipulators with and Without Hybrid-Driven Planar Five-Bar Mechanism; 6.2.1 System Description and Kinematics; 6.2.1.1 Kinematics of the CPR; 6.2.1.2 Kinematics of the HDCPR; 6.2.2 Dynamic Formulation; 6.2.2.1 Dynamic Model of the CPR; 6.2.2.2 Dynamic Model of the HDCPR; 6.2.3 Workspace Determination; 6.2.3.1 Workspace of the CPR; 6.2.3.2 Workspace of the HDCPR; 6.2.4 Stiffness Performance Analysis. | |
| 506 | |a Plný text je dostupný pouze z IP adres počítačů Univerzity Tomáše Bati ve Zlíně nebo vzdáleným přístupem pro zaměstnance a studenty | ||
| 520 | |a 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 architectures of cable-suspended parallel robots in practical applications, including the feed cable-suspended structure for super antennae, hybrid-driven-based cable-suspended parallel robots, and cooperative cable parallel manipulators for multiple mobile cranes. It also addresses the fundamental mechanics of cable-suspended parallel robots on the basis of their typical applications, including the kinematics, dynamics and trajectory tracking control of the feed cable-suspended structure for super antennae. In addition it proposes a novel hybrid-driven-based cable-suspended parallel robot that uses integrated mechanism design methods to improve the performance of traditional cable-suspended parallel robots. A comparative study on error and performance indices of hybrid-driven based and traditional cable-suspended parallel robots rounds out the coverage. This book addresses the needs of researchers, engineers and post-graduates in the field of cable-suspended parallel robots and related areas. | ||
| 590 | |a SpringerLink |b Springer Complete eBooks | ||
| 650 | 0 | |a Parallel robots. | |
| 650 | 0 | |a Parallel robots |x Design. | |
| 655 | 7 | |a elektronické knihy |7 fd186907 |2 czenas | |
| 655 | 9 | |a electronic books |2 eczenas | |
| 700 | 1 | |a Qian, Sen, |e author. | |
| 776 | 0 | 8 | |i Print version: |a Zi, Bin. |t Design, analysis and control of cable-suspended parallel robots and its applications. |d Singapore : Springer, 2017 |z 9811017522 |z 9789811017520 |w (OCoLC)951526918 |
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