Design, Analysis and Control of Cable-Suspended Parallel Robots and Its Applications

Introduction.- Kinematics and dynamics of the feed cable-suspended structure for super antenna.- Trajectory tracking control of the feed cable-suspended structure for super antenna.- Integrated mechanism design and control of the hybrid-driven based cable-suspended parallel robots.- Error analysis of the hybrid-driven based cable-suspended parallel robots.- Performance indices of the hybrid-driven based cable-suspended parallel robots.- Design and dynamics of the cooperative cable parallel manipulators for multiple mobile cranes.- Obstacle avoidance planning of the cooperative cable parallel manipulators for multiple mobile cranes.- Development, coordinated control and experiments of the cooperative cable parallel manipulators for multiple mobile cranes.- Conclusions.

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• Mecânica clássica
• Engenharia do controlo automático
• Desenho técnico

Cable-Suspended Parallel Robots;Obstacle Avoidance Planning;Coordinate Control;Integrated Mechanism Design and Control;The Feed Cable-Suspended Structure for Super Antenna;The Hybrid-Driven Based Cable-Suspended Parallel Robot;The Cooperative Cable Parallel Manipulators;Multiple Mobile Cranes