A Cartesian Cable-Suspended Robot for Aiding Mobility

  • Gianni Castelli
  • Erika OttavianoEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


In this chapter we propose the analysis and simulation of a cable system developed to be used in large-scale handling for applications in urban, civil and naval environments. For the proposed system, which belongs to the Cartesian Cable-Suspended Robots (CCSR), the main issue is that it can provide translational motion of the end-effector being suspended, thus it may be considered well suited for a number of applications including the proposed one. In this chapter we focus our attention on a spatial version of the cable system designed to improve the mobility of end-users in urban environment. Kinetostatics and dynamic simulation are proposed and discussed.


Cable-suspended robot Modelling Simulation. 


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Department of Civil and Mechanical EngineeringUniversity of Cassino and Southern LazioCassinoItaly

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