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

  • Bin Zi
  • Sen Qian

About this book


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.


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

Authors and affiliations

  • Bin Zi
    • 1
  • Sen Qian
    • 2
  1. 1.Hefei University of Technology HefeiChina
  2. 2.Hefei University of Technology HefeiChina

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