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Cable suspended parallel robots: Des...

Pusey, Jason L.

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

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Cable suspended parallel robots: Design, workspace, and control./
Author:	Pusey, Jason L.
Description:	350 p.
Notes:	Adviser: Sunil K. Agrawal.
Contained By:	Masters Abstracts International44-06.
Subject:	Engineering, Mechanical. -
Online resource:	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.
LDR:02169nam 2200289 a 45 001 968253
005 20110915
008 110915s2006 eng d
020 $a 9780542719189
035 $a (UMI)AAI1435861
035 $a AAI1435861
040 $a UMI $c UMI
100 1 $a Pusey, Jason L. $3 1292110
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.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0548
690 $a 0771
710 2 0 $a University of Delaware. $3 1017826
773 0 $t Masters Abstracts International $g 44-06.
790 $a 0060
790 1 0 $a Agrawal, Sunil K., $e advisor
791 $a M.S.M.E.
792 $a 2006
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1435861