This publication presents the outcome of the first international conference on cabledriven parallel robots in 2012. Parallel robots rcdprs where the locations of the cable exit points on the base frame can be selected from a. Parallel robots also possess features not found in serial robots, e. Defining new auxiliary dynamics, the controller could provide a priori saturated control command an adaptive multilayer neural network and an adaptive robust term are designed to compensate for the dynamic uncertainties of the system. Although the study of wdpr seems to be a welladdressed subject, we will. In cdprs, flexible cables are used to take the place of. Pdf fourcabledriven parallel robot andreas pott and sukho.
Pdf design of reconfigurable cabledriven parallel robots. In this thesis, the accuracy of cabledriven parallel robots is investigated by presenting and discussing. On the other hand, kinematic and dynamic models for parallel robots are inherently more complex. Accuracy and reliability of cabledriven parallel robots.
The system is based on a cabledriven parallel robot which can outperform industrial robots by more than one order of magnitude in terms of workspace and payload. A new adaptive neural controller is proposed for cabledriven parallel robots. Adaptive neural network control of cabledriven parallel. Cabledriven parallel robots have drawn considerable attention because of their unique abilities and advantages such as the large workspace, light weight of cable actuators, easy disassembly and transportation of the robot. What links here related changes upload file special pages permanent link page.
Solid mechanics and its applications volume 128 series editor. For cable robots driven by plastic fiber cables, accuracy scales with size. In a cabledriven redundant parallel manipulator cdrpm, the linear actuators of parallel manipulators are replaced with electrical powered cable drivers. Cabledriven parallel robots tobias bruckmann springer. Cable driven robots are a type of parallel manipulators in which flexible cables are used as. Tension optimization for a cabledriven parallel robot with non. Parallel and cable robotics aras hitech robotic solutions. Cabledriven parallel robotics, a new solution for the industry. Cabledriven parallel robots cdprs are categorized as a type of parallel manipulators. This is the first conference to bring together the cable robot community and dedicate a forum for the international experts of this field.
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