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Preface; Organization; Contents; Modelling; Modelling of Flexible Cable-Driven Parallel Robots Using a Rayleigh-Ritz Approach; 1 Introduction; 2 Flexible CDPR Modelling Using Rayleigh-Ritz Discretization; 2.1 Time-Dependent and Spatial Variables; 2.2 Dynamic Model of Half-System; 2.3 Energy-Based Model Simplification; 2.4 Constraint Equations and the Null Space Method; 3 Nonlinear System Analysis; 4 Linearized System Analysis; 5 Conclusion; References; Assumed-Mode-Based Dynamic Model for Cable Robots with Non-straight Cables; 1 Introduction; 2 Single Cable Modeling; 2.1 Single Cable Modeling
2.2 Cable Dynamic Model3 Planar Robot with n cables; 3.1 Dynamic Model; 4 Simulation Results; 5 Conclusion; References; Manipulator Deflection for Optimum Tension of Cable-Driven Robots with Parameter Variations; Abstract; 1 Introduction; 2 Formulation of Wrench and Stiffness; 2.1 Solution Sets for Cable Tension and Platform Deflection; 2.2 Subsets of Non-negative Solution; 3 Case Study; 3.1 Example 1
Positive Particular Solution; 3.2 Example 2
Negative Particular Solution; 4 Conclusions; References; Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots
1 Introduction2 Parametrization of the CAROCA Prototype; 3 Elasto-Geometric Modeling; 3.1 Inverse Elasto-Geometric Modeling (IEGM); 3.2 Direct Elasto-Geometrical Model (DEGM); 3.3 Static Deflection; 4 Error Modeling; 4.1 Geometrical Errors; 4.2 Mechanical Errors; 5 Sensitivity Analysis; 5.1 Influence of Mechanical Errors; 5.2 Influence of Geometrical Errors; 6 Conclusion; References; CASPR-ROS: A Generalised Cable Robot Software in ROS for Hardware; 1 Introduction; 2 Background; 2.1 System Model; 2.2 Models in CASPR; 2.3 Analysis in CASPR; 3 Interfacing Hardware in CASPR-ROS
3.1 Integrating CASPR with ROS3.2 Hardware Interfaces; 4 Experiments in CASPR-ROS; 4.1 Adding New Experiments; 4.2 Operating Procedure; 5 Experimental Results; 5.1 Case Study: Spatial Cable Robots Using PoCaBot Units; 5.2 Case Study: BioMuscular Arm Using MYO-muscles; 6 Conclusion; References; A Polymer Cable Creep Modeling for a Cable-Driven Parallel Robot in a Heavy Payload Application; Abstract; 1 Introduction; 2 CNU Cable Robot System and Creep Experiments; 2.1 CNU Cable Robot System; 2.2 Cable Creep Experiment; 3 Creeping Modeling and Parameters Estimation; 3.1 Cable Creep Modeling
3.2 Individual Model Parameters Estimation: Polynomial Fitting3.3 Dual Model Parameters Estimation: Surface Fitting; 4 Conclusion and Future Works; Acknowledgments; References; Bending Fatigue Strength and Lifetime of Fiber Ropes; 1 Introduction; 2 State of the Art in Rope Testing; 3 Rope Testing Under High Dynamic Parameters; 3.1 Tension-Tension Tests; 3.2 High-Dynamic Bending Tests; 4 Application in Cable Robot Design; 5 Conclusion; References; Bending Cycles and Cable Properties of Polymer Fiber Cables for Fully Constrained Cable-Driven Parallel Robots; 1 Introduction
2.2 Cable Dynamic Model3 Planar Robot with n cables; 3.1 Dynamic Model; 4 Simulation Results; 5 Conclusion; References; Manipulator Deflection for Optimum Tension of Cable-Driven Robots with Parameter Variations; Abstract; 1 Introduction; 2 Formulation of Wrench and Stiffness; 2.1 Solution Sets for Cable Tension and Platform Deflection; 2.2 Subsets of Non-negative Solution; 3 Case Study; 3.1 Example 1
Positive Particular Solution; 3.2 Example 2
Negative Particular Solution; 4 Conclusions; References; Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots
1 Introduction2 Parametrization of the CAROCA Prototype; 3 Elasto-Geometric Modeling; 3.1 Inverse Elasto-Geometric Modeling (IEGM); 3.2 Direct Elasto-Geometrical Model (DEGM); 3.3 Static Deflection; 4 Error Modeling; 4.1 Geometrical Errors; 4.2 Mechanical Errors; 5 Sensitivity Analysis; 5.1 Influence of Mechanical Errors; 5.2 Influence of Geometrical Errors; 6 Conclusion; References; CASPR-ROS: A Generalised Cable Robot Software in ROS for Hardware; 1 Introduction; 2 Background; 2.1 System Model; 2.2 Models in CASPR; 2.3 Analysis in CASPR; 3 Interfacing Hardware in CASPR-ROS
3.1 Integrating CASPR with ROS3.2 Hardware Interfaces; 4 Experiments in CASPR-ROS; 4.1 Adding New Experiments; 4.2 Operating Procedure; 5 Experimental Results; 5.1 Case Study: Spatial Cable Robots Using PoCaBot Units; 5.2 Case Study: BioMuscular Arm Using MYO-muscles; 6 Conclusion; References; A Polymer Cable Creep Modeling for a Cable-Driven Parallel Robot in a Heavy Payload Application; Abstract; 1 Introduction; 2 CNU Cable Robot System and Creep Experiments; 2.1 CNU Cable Robot System; 2.2 Cable Creep Experiment; 3 Creeping Modeling and Parameters Estimation; 3.1 Cable Creep Modeling
3.2 Individual Model Parameters Estimation: Polynomial Fitting3.3 Dual Model Parameters Estimation: Surface Fitting; 4 Conclusion and Future Works; Acknowledgments; References; Bending Fatigue Strength and Lifetime of Fiber Ropes; 1 Introduction; 2 State of the Art in Rope Testing; 3 Rope Testing Under High Dynamic Parameters; 3.1 Tension-Tension Tests; 3.2 High-Dynamic Bending Tests; 4 Application in Cable Robot Design; 5 Conclusion; References; Bending Cycles and Cable Properties of Polymer Fiber Cables for Fully Constrained Cable-Driven Parallel Robots; 1 Introduction