Abstract
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.
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Castelli, G., Ottaviano, E. (2014). A Cartesian Cable-Suspended Robot for Aiding Mobility. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_41
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DOI: https://doi.org/10.1007/978-94-007-7214-4_41
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